KR101006396B1 - Apparatus and method for physical treatment of articulation - Google Patents

Abstract

The present invention relates to an apparatus and method for treating joint motion, and specifically, a part of a body having a joint part detects a repulsive force when bending, and can adaptively adjust the range and speed of bending motion of an arm or knee joint. A device and method for treating joint motion. The present invention detects the repulsive force when the leg or the arm is bent by measuring the power consumption of the pressure sensor or the motor to determine the degree of flexibility of the joint and thereby actively adjust the bending angle and the movement speed of the joint. As described above, the present invention is to recover the abnormal range of movement of the abnormal joint to the normal state in a short time by adaptively controlling the movement angle and the movement speed of the joint away from the passive therapeutic operation that is repeated without effect after the joint stiffness is alleviated to some extent. It can be effective.

Knee, Joint, Exercise, Therapy, Pressure Sensor, Motor, Power Consumption, Load

Description

Joint motion therapy apparatus and method {APPARATUS AND METHOD FOR PHYSICAL TREATMENT OF ARTICULATION}

The present invention relates to an apparatus and method for treating joint motion, and specifically, a part of a body having a joint part detects a repulsive force when bending, and can adaptively adjust the range and speed of bending motion of an arm or knee joint. A device and method for treating joint motion.

In the orthopedic or rehabilitation department, the physical therapy room of the ward is equipped with various types of exercise therapy devices, among which there are joint motion therapy devices that soften rigid arm or knee joints. When muscle stiffness, ligament or skin shrinkage occurs due to surgery, paralysis, bruises, trauma, burns, etc., the normal range of motion of the joint is reduced. In order to restore the reduced range of motion of the reduced joint to the normal, a device for repeatedly performing forced bending motion is a joint motion treatment device.

Figure 1 shows the operational state diagram of a conventional knee joint motion treatment apparatus.

As shown in FIG. 1, when the motor 3 rotates, the screw 4 supported by the frame 1 linearly moves and the front plate 5 connected through the screw 4 and the nut 18 is rotated. Advance in the direction of the patient.

As the front plate 5 is advanced, the rear plate 10 rotates about the third link 17. When the rear plate 10 rotates, the upper plate 7 connected through the second link 9 is rotated around the first link 6 while receiving the upward force. As a result, the upper plate 7 is lifted by the rear plate 10, and a constant angle of movement is created between the upper plate 7 and the rear plate 10. The knee joint is folded by the movement angle formed between the top plate 7 and the back plate 10.

Subsequently, as the front plate 5 reverses and returns to its original position, the upper angle plate 7 is lowered through the process opposite to the above operation, and the movement angle disappears between the upper plate 7 and the rear plate 10. When the angle of motion disappears, the knee joint is stretched back.

As described above, the front plate 5 repeats the forward and backward linear motions while the legs of the patient lying between the upper plates 7 are folded and stretched, and physical therapy for the knee joint is performed.

The angle of movement between the top plate 7 and the back plate 10 is determined by the movement distance of the front plate 5. When the physiotherapist checks the knee joint state of the patient and sets a constant movement angle, the front plate 5 repeats the forward and backward linear movements by the distance corresponding to the movement angle.

However, in the conventional knee joint movement treatment apparatus, the upper plate 7 is incompletely lifted by the rear plate 10 when the front plate 5 moves forward, so that the angle of movement is not constant and the upper plate 7 is completely lifted. If not, the angle of movement is reduced, there was a problem that can not effectively perform knee joint treatment.

On the other hand, the joint is not very normal during the initial movement, but the rigid movement range of the joint gradually increases as the physical treatment by the bending motion is repeated. However, the conventional knee joint motion treatment device has a problem that the physical effect of the same movement angle is repeated even if the joint is flexible due to the repeated movement because the set movement angle is continuously maintained.

Of course, by using the exercise control program of the control unit 2 may adopt a method of increasing the angle of movement sequentially according to the number of times of exercise or time, but such a method is uniform because each patient has individual differences such as muscle mass, degree of injury and weight. There was a problem in that it could not be applied and could not respond properly at the point where the joint became flexible.

In addition, the conventional knee joint exercise device has a problem that the physical therapy by the same speed is repeated, even if the joint is flexible because it maintains the set speed once, more effective treatment can not be performed.

The present invention was devised to solve the above problems, and an object of the present invention is to provide an apparatus for treating joint motion having a structure capable of stably producing a larger and more accurate angle of motion than before.

Another object of the present invention is to provide a joint motion treatment apparatus and method capable of actively responding to the movement angle and speed according to the degree of flexibility of the joint by sensing the degree of flexibility of the joint.

To this end, the joint motion treatment apparatus according to the present invention is a joint for performing a bending motion of a joint by an operation of moving the upper plate connected between the front plate and the rear plate upward while the rear plate rotates according to the linear motion of the front plate. In the exercise treatment device, an extension plate provided at the end of the upper plate and a support member connected between the extension plate and the rear plate, the extension plate downward by the support member when the rear plate is rotated Pulling force is generated is characterized in that the movement angle between the upper plate and the rear plate is increased.

In addition, the apparatus for treating joint motion according to the present invention includes a pressure sensor for detecting a repulsive force when a body part having a joint part performs a bending motion, a motor for generating a rotational motion, and converting the rotational motion of the motor into a linear motion. The motion converting means, the frame moving the straight line by the motion converting means and inducing joint bending of the part of the body, the pressure value detected by the pressure sensor and a predetermined reference pressure value are compared and the detected pressure value is small. If it is not the case that the linear movement of the frame continues to maintain the small linear movement of the frame and comprises a control unit for changing the linear movement of the frame in the opposite direction.

In addition, the joint motion treatment apparatus according to the present invention includes a motor for generating a rotational motion, motion conversion means for converting the rotational motion of the motor into a linear motion, and a joint of a part of the body while moving in a straight line by the motion conversion means. When the frame inducing bending and the power consumption of the motor are converted into a load, and the converted load value is smaller than the predetermined reference load value, the linear load of the frame is continuously maintained when the converted load value is small. And a control unit for stopping the linear motion and changing the linear motion of the frame in the opposite direction.

In addition, the joint motion method according to the present invention comprises the steps of setting a reference pressure value, detecting the pressure value generated by the repulsive force when the body part is bent in accordance with the movement of the frame inducing joint bending and Comparing the reference pressure value with the sensed pressure value, continuing the movement of the frame when the sensed pressure value is less than the reference pressure value, and wherein the sensed pressure value is not less than the reference pressure value. In the case of stopping the movement of the frame and changing the direction of movement of the frame reversely.

In addition, the joint motion method according to the present invention, the step of setting the reference load value, and measuring the power consumption of the motor that is changed according to the repulsive force when the body part is bending movement while the frame inducing joint bending moves And converting power consumption of the motor into a load value, comparing the reference load value with the converted load value, and continuing the movement of the frame when the converted load value is smaller than the reference load value. And stopping the movement of the frame and reversing the movement direction of the frame when the converted load value is not smaller than the reference load value.

As described above, according to the present invention, by adding the extension plate and the support member in the frame structure of the joint motion treatment apparatus, the motion of the upper plate being lifted by the rear plate is more accurate and larger, thereby increasing the size of the movement angle. It works.

In addition, the present invention detects the repulsive force when the leg or arm is bent by measuring the power consumption of the pressure sensor or motor to determine the degree of flexibility of the joint and accordingly the joint stiffness to some extent by actively adjusting the movement angle and speed There is an excellent effect of restoring the range of movement of abnormal joints to a normal state in a short time after being released from the repeated therapeutic movements without any effects after alleviation.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 and 3 show a knee joint movement treatment apparatus according to an embodiment of the present invention.

As shown in Figures 2 and 3, the frame structure of the knee joint motion treatment apparatus of the present invention is the front plate (5), the top plate (7) and the back plate (10) like the frame structure of the conventional treatment device of FIG. The upper plate 7 connected between the front plate 5 and the rear plate 10 moves upward while the rear plate 10 rotates according to the linear movement of the front plate 5 in the operation. The mechanism for performing the bending motion of the joints by motion is the same.

However, the extension plate 12 is installed through the fourth link 8 at the end of the upper plate 7, and the fifth link 16 and the sixth link between the extension plate 12 and the rear plate 10. The support member 11 is connected through 13.

In this structure, when the front plate 5 makes a linear movement, the force of pulling the extension plate 12 downward by the support member 11 is generated while the rear plate 10 rotates about the third link 17. do. When the extension plate 12 is pulled downward, the upward force of the upper plate 7 is increased to increase the angle of movement between the upper plate 7 and the rear plate 10 while maintaining the correct angle. Accordingly, the bending motion of the legs located between the upper surface plates 7 is accurately and consistently repeated at a larger movement angle than before, thereby enabling effective treatment.

In addition, the knee joint movement treatment apparatus of the present invention is provided with a pressure sensor 15 through the pressure information of the pressure sensor 15, the angle of movement between the upper plate 7 and the rear plate 10 (that is, bending of the joints) Angle) and movement speed are adaptively controlled. The pressure sensor 15 may be installed on the front plate 5 or the foot support plate 14 on which the foot is placed, as shown in FIG. 2, but where the pressure sensor 15 can effectively receive the repulsive force when the leg is bent. Even installation is possible.

Pressure sensor is a sensor that measures the pressure by using the characteristic that the value of resistance, capacity, inductance, frequency, etc. changes according to the pressure level when the pressure is received from the outside. Typical pressure sensors are strain gages. Strain gauges are devices that respond very sensitively to physical microdeformation and can be attached to the surface of an object to measure the pressure on the surface of the object. That is, the strain gauge is able to measure the pressure as the internal resistance is changed by the deformation of the object when the pressure is applied to the surface of the object and accordingly the current changes.

4 shows the sequence of the knee joint motion treatment operation using the pressure information of the pressure sensor 15.

As shown in FIG. 4, a reference pressure value P _ref is first set before performing the exercise treatment operation (S1). The reference input value refers to a pressure value detected by the pressure sensor 15 at the time when the knee joint of the leg is bent to the maximum when the frame is driven by the exercise treatment device. An operator of an exercise therapy apparatus such as a physiotherapist bends the joint to an angle that can be bent in a range that does not strain the knee joint of the patient, and then sets the measured pressure value as a reference pressure value.

When the reference pressure value is set, the controller (MCU) 2 drives the motor 3 to move the front plate 5 forward in the direction of the patient (S2). The controller 2 receives the pressure value measured from the pressure sensor 15 and compares the pressure value with a preset reference pressure value (S3). If the measured pressure value is smaller than the reference pressure value, the front plate 5 continues to move forward. If the measured pressure value is equal to or greater than the reference pressure value, the front plate 5 stops moving forward and at the same time the front plate 5 ) Starts the reverse movement (S4). Next, the controller 2 determines whether the backward movement of the front plate 5 is completed (S5). If the backward movement is not completed, the front plate 5 continues to move backward, and when the reverse movement is completed, the process returns to step S2 and starts the forward movement, and repeats the above process.

In the conventional knee joint movement treatment apparatus, the front plate 5 always moves at the same speed when moving forward or backward, but in the present invention, the moving speed of the front plate 5 varies according to the repulsive force during the articulation of the foot. .

Figure 5 is a graph showing the relationship between the repulsive force and the speed of movement of the foot bending exercise.

As shown in FIG. 5, when the reference pressure value P _ref is set and the treatment apparatus is driven, the repulsive force increases during the bending movement of the leg as the moving distance of the frame increases, thereby increasing the measured pressure value ( 5a). The frame is then started to the initial velocity (V _i) in inverse proportion to the measured pressure value of the moving speed is reduced (FIG. 5b). In other words, when the measured pressure value is small, it means the flexibility remains in the joint, so the movement speed is faster, and when the measured pressure value is large, the flexibility of the joint is decreased, so the movement speed is slowed.

In the graph of FIG. 5, the speed of the frame is continuously changed in inverse proportion to the pressure, but the speed of the frame may be changed at a speed corresponding to the pressure section. That is, from the measured pressure value, the foot determines the magnitude of the repulsive force during the joint bending motion, so that the movement speed of the frame is increased in the section where the foot has a low repulsive force during the joint bending motion, and the movement speed of the frame is decreased in the section where the foot has the high repulsive force during the joint bending motion. The speed of the frame is adaptively controlled according to the pressure.

Although the graph of FIG. 5 shows that the moving speed of the frame varies in inverse proportion to the forward movement of the frame, the graph may be equally applicable to the reverse description in the backward movement of the frame.

So far, the method of adaptively controlling the movement angle and the movement speed of the joint motion treatment apparatus by measuring the repulsive force when the foot is bent from the pressure sensor 15 has been described, but in another embodiment of the present invention, the pressure sensor 15 It is possible to implement the same operation as described above by using the power consumption of the motor 3 without using.

Figure 6 shows the sequence of the knee joint motion treatment operation by measuring the power consumption of the motor (3).

As shown in FIG. 6, a reference load value is first set before performing the exercise treatment operation (S1). The reference load value refers to a load value obtained by converting the power consumption of the motor measured at the time when the knee joint of the leg is bent to the maximum during the initial movement of the frame by driving the exercise therapy apparatus in the same concept as the reference pressure value. The operator of an exercise therapy device such as a physiotherapist bends the joint to an angle that can be bent in a range that does not overwhelm the knee joint of the patient, and then sets the load value obtained by converting the measured power consumption of the motor as the reference load value. (S10).

In general, when the motor rotates with a constant load and the load increases, the current consumed by the increased load increases and the power consumption increases with the increase of the current. Likewise, when the load decreases, the current consumed by the reduced load decreases, and the power consumption decreases as the current decreases. By converting the power consumption of the motor into the load by using the characteristics of the motor, the power consumption is variable according to the load amount, the body part such as legs or arms can calculate the repulsive force during the bending motion of the joint.

When the reference load value is set, the controller 2 drives the motor 3 to move the front plate 5 forward in the direction of the patient (S11). Next, a current detection unit (not shown) detects the current of the motor 3 (S12). The current sensing unit outputs the sensed current value which is installed inside or outside the motor 3 as a separate element to the controller 2.

The controller 2 calculates power consumption of the motor 3 using the sensed current value of the motor 3 (S13), and converts the calculated power consumption into a load value (S14). Subsequently, the control unit 2 compares the converted load value with the reference load value (S15). If the converted load value is smaller than the reference load value, the front plate 5 continues to move forward. If the converted load value is equal to or greater than the reference load value, the front plate 5 stops moving forward and at the same time the front plate 5 ) Starts the reverse movement (S16). Next, the controller 2 determines whether the backward movement of the front plate 5 is completed (S17). If the backward movement has not been completed, the front plate 5 continues to move backward, and when the reverse movement is completed, the process returns to step S10 and starts the forward movement and repeats the above process.

Similar to the method using the pressure sensor 15, in the method using the power consumption measurement of the motor 3, the moving speed of the frame is changed in inverse proportion to the converted load value when the frame moves forward and backward. In addition, the speed of the frame may be continuously changed in inverse proportion to the converted load value, but the speed of the frame may be changed at a speed corresponding to the pressure section. That is, from the converted load value, the size of the repulsive force is judged when the foot is bending, and the movement speed of the frame is increased in the section where the foot has a low repulsive force during the joint bending motion, and the speed of the frame is decreased when the foot is high in the repulsive force during the joint bending motion. In this way, the frame rate is adaptively controlled according to the load.

Those skilled in the art can improve or change the technical idea of the present invention in various forms. That is, the apparatus for treating joint motion according to an embodiment of the present invention further includes a display unit, and the display unit performs the movement time, the number of movements, and the final joint bending angle (movement) while the forward and backward movements of the frame are repeated as described above. Operation status information such as each) can be displayed by numerical value or graph. The operator of the joint exercise treatment apparatus such as a patient and a physiotherapist can check the state of exercise and rehabilitation by monitoring the operation state information displayed on the display unit.

Therefore, it should be understood that the embodiments of the present invention described with reference to the drawings should not be construed as limiting the technical spirit of the present invention, and the protection scope of the present invention is limited only by the matters described in the claims.

1 is an operation state of the conventional knee joint movement treatment apparatus.

2 is a block diagram of a knee joint motion treatment apparatus according to the present invention.

Figure 3 is an operating state of the knee joint motion treatment apparatus according to the present invention.

Figure 4 is a flow chart of the knee joint movement method using the pressure information of the pressure sensor according to the present invention.

Figure 5 is a graph showing the relationship between the repulsive force and the movement speed of the foot joint bending exercise in the knee joint motion treatment apparatus according to the present invention.

6 is a flow chart of the knee joint movement method by measuring the power consumption of the motor according to the present invention.

<Description of Signs of Major Parts of Drawings>

1: Frame 2: Control Unit (MCU)

3: motor 4: screw

5: front plate 6, 8, 9, 13, 16, 17: link

7: top plate 10: back plate

11: support member 12: extension plate

14: foot support plate 15: pressure sensor

18: Nut

Claims (17)

delete A pressure sensor that detects the repulsive force when a part of the body having a joint is bent, A motor for generating rotational movement, Motion converting means for converting the rotational motion of the motor into a linear motion; A frame for inducing joint bending of the body part while moving in a straight line by the motion converting means; The pressure value detected by the pressure sensor is compared with a predetermined reference pressure value, and when the detected pressure value is small, the linear movement of the frame is continuously maintained. If not, the linear movement of the frame is stopped and the linear movement of the frame is reversed. Joint motion treatment apparatus comprising a control unit for changing in the direction. The method of claim 2, The controller controls the movement speed and angle of the frame to be inversely proportional to the pressure value detected by the pressure sensor. The method of claim 3, The control unit may determine the magnitude of the repulsive force when the body part performs the bending motion from the pressure value detected by the pressure sensor, and increases the moving speed of the frame in the section where the repulsive force is small when the body part performs the bending motion. Joint movement treatment apparatus, characterized in that for reducing the movement speed of the frame in a large repulsive force when the body part is a bending motion. A motor for generating rotational movement, Motion converting means for converting the rotational motion of the motor into a linear motion; A frame for inducing joint bending of a part of the body while moving in a straight line by the motion converting means; When the converted load value is small by converting the power consumption of the motor into a load and comparing the converted load value with a predetermined reference load value, if the converted load value is small, the linear movement of the frame is continued. Joint motion treatment apparatus comprising a control unit for changing the linear motion of the opposite direction. The method of claim 5, And the control unit controls the movement speed of the frame to be inversely proportional to the converted load value. The method of claim 6, The control unit determines the magnitude of the repulsive force when the body part performs the bending motion from the converted load value, and increases the moving speed of the frame in the section where the repulsive force is small when the body part performs the bending motion and the body part is bent. Joint movement treatment apparatus, characterized in that for reducing the movement speed of the frame in a large repulsive force during exercise. The method of claim 5, Further comprising a current sensing unit for sensing the current of the motor, The controller calculates the power consumption of the motor using the current value received from the current sensing unit. delete delete delete delete delete delete delete delete delete

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