KR20220022397A - Rehabilitation apparatus for arm - Google Patents

Abstract

A rehabilitation apparatus for an arm is provided. The rehabilitation apparatus for an arm includes: a chair unit on which a patient can sit; a chair moving unit which has the chair unit fixed thereto, to move the chair unit with respect to a rehabilitation robot; a movement control module which is connected to the chair moving unit to move the chair moving unit; a storage unit which stores position information of the chair unit for each patient; and a control unit which obtains the position information of the chair unit, which corresponds to patient information, from the storage unit when the patient information is input, and controls the movement control module to move the chair unit based on the obtained position information of the chair unit.

Description

Upper extremity rehabilitation apparatus {Rehabilitation apparatus for arm}

The present invention relates to an upper limb rehabilitation apparatus, and more particularly, to an upper limb rehabilitation apparatus capable of automatically moving a treatment position of a rehabilitation patient.

Recently, as we enter an aging and aging society, the number of stroke patients is increasing, the number of patients with spinal cord injury due to traffic accidents is increasing, and the number of patients suffering from brain damage such as stroke, traumatic brain injury, cerebral palsy, etc. The number of patients who lack active hand movement due to disease is increasing.

Various rehabilitation medical devices have been developed to restore the function of the musculoskeletal system lost in these patients to normal.

Patent documents such as Korean Publication No. 10-2018-0080544 are known as prior art documents that can be referenced in this regard. However, according to the prior literature, the rehabilitation apparatus is height-adjusted for rehabilitation exercise, and the rehabilitation exercise range is configured to freely move on the XY coordinates.

However, due to the nature of rehabilitation treatment, patients do not end up receiving treatment only once, but must be repeated several times for a long period of time. However, in the prior art, while the rehabilitation apparatus for treating a patient for upper extremity rehabilitation moves, the position where the patient sits and receives treatment is not always fixed, so there is a problem in that it cannot have a certain therapeutic effect.

The present invention has been devised to solve the above-described problems, and an object of the present invention is to move the chair fixed part on which the chair is fixed so that the patient can receive rehabilitation treatment at a fixed position during upper extremity rehabilitation treatment. An object of the present invention is to provide an upper extremity rehabilitation apparatus including a control module.

According to an embodiment of the present disclosure, a rehabilitation apparatus includes: a chair on which a patient can sit; a chair moving part to which the chair part is fixed to move the chair part based on the rehabilitation robot; a movement control module connected to the chair moving unit to move the chair moving unit; a storage unit for storing location information of the chair unit for each patient; and a controller configured to obtain position information of the chair unit corresponding to the patient information from the storage unit when patient information is input, and control the movement control module to move the chair unit based on the obtained position information of the chair unit; include

The movement control module may include: a first driving unit for moving the chair moving unit in an X-axis direction; a second driving unit for moving the chair moving unit in the Y-axis direction; a first sensor for detecting an X-axis origin of the first driving unit; and a second sensor for detecting the origin of the Y-axis of the second driving unit.

In addition, each of the first driving unit and the second driving unit may include a first gear; a second gear spaced apart from the first gear; a drive motor connected to the first gear; and a belt connected to the first gear and the second gear and rotating through driving of the first gear and the second gear.

In addition, each of the first driving unit and the second driving unit may include a ball screw; It may include; a drive motor for driving the ball screw forward rotation or reverse rotation.

Further, the method further includes a user input unit receiving a user command, wherein when a first user command is input through the user input unit, the movement control module is configured to move the chair moving unit according to the first user command control, and when a second user command is input through the user input unit, the patient information may be matched with the first position of the chair unit at the time the second user command is input and stored in the storage unit.

And, the control unit, when a third user command is input through the user input unit while the rehabilitation robot is operating, stops the operation of the rehabilitation robot, and when a fourth user command is input while the operation of the rehabilitation robot is stopped, The movement control module controls the movement control module to move the chair moving unit according to the fourth user command, and when a fifth user command is input through the user input unit, the second chair unit at the time when the fifth user command is inputted The location and patient information may be matched and stored in the storage unit.

In addition, the control unit may start the rehabilitation exercise in one of the first position and the second position of the chair unit according to the user command.

In addition, the controller may control the movement control module not to move while the rehabilitation robot is operating.

According to various embodiments of the present disclosure as described above, upper extremity rehabilitation treatment may be performed at a predetermined location based on patient information to further increase the treatment effect.

1 is a view showing an upper extremity rehabilitation apparatus according to an embodiment of the present disclosure;
2 is a view for explaining a configuration for moving a chair of the upper extremity rehabilitation apparatus according to an embodiment of the present disclosure;
3A to 3C are diagrams illustrating a UI for explaining a process for registering a patient's chair position, according to an embodiment of the present disclosure;
4 is a view for explaining an embodiment in which a position of a patient's chair is changed according to a user command, according to an embodiment of the present disclosure;

Terms used in this specification will be briefly described, and the present invention will be described in detail.

The terms used in the embodiments of the present invention have been selected as currently widely used general terms as possible while considering the functions in the present invention, which may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, etc. . In addition, in a specific case, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding disclosure. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than the name of a simple term.

Embodiments of the present invention can apply various transformations and can have various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the scope of the specific embodiments, and it should be understood to include all transformations, equivalents and substitutions included in the spirit and scope of the disclosure. In describing the embodiments, if it is determined that a detailed description of a related known technology may obscure the subject matter, the detailed description thereof will be omitted.

Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The singular expression includes the plural expression unless the context clearly dictates otherwise. In this application, "includes." Or "consistent." The term such as is intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features or number, step, operation, component, part or It should be understood that it does not preclude the possibility of the existence or addition of combinations thereof.

In addition, the present invention relates to an upper limb rehabilitation apparatus for inducing rehabilitation of the upper limb in conjunction with hand movement, wherein the upper limb means a body region including the wrist and hand as well as the upper and lower arms of the arm. Although the gist is to induce the movement of the entire upper extremity through the movement of the hand, it is not necessarily limited to this use.

Hereinafter, the present invention will be described with reference to FIG. 1 . The upper extremity rehabilitation apparatus 10 according to the present invention may include a rehabilitation robot apparatus 100 , a chair movement apparatus 200 , and a computing apparatus 300 . In this case, the rehabilitation robot device 100 , the computing device 300 , and the chair moving device 200 may be connected by wire or wireless, respectively.

The rehabilitation robot apparatus 100 may include a handle for the user to fix the upper limb, a control arm for moving the handle, and a control arm moving unit for moving the control arm. In particular, the rehabilitation robot apparatus 100 moves the control arm under the control of the controller 330 included in the computing device 300 to perform upper extremity rehabilitation treatment of the patient. At this time, the upper extremity rehabilitation treatment can be performed by moving the control arm according to a preset pattern based on the patient's patient information. The rehabilitation robot apparatus 100 may further include a base capable of accommodating them in addition to the handle part, the control arm, and the control arm moving part.

The chair moving device 200 may move the position of the chair unit 210 with respect to the rehabilitation robot device 100 under the control of the controller 330 included in the computing device 300 . In particular, the chair moving device 200 may include a chair unit 210 , a chair moving unit 220 , and a movement control module 230 .

The chair unit 210 is configured to allow a patient to sit. In this case, the chair unit 210 may be located in one area of the chair moving unit 220 . For example, as shown in FIG. 2 , the chair unit 210 may be located in a central region of the chair moving unit 220 .

As for the chair moving unit 220 , the chair unit 220 may be fixed to move the chair unit 210 with respect to the rehabilitation robot apparatus 100 . In particular, the chair moving unit 220 may move the chair unit 210 to the movement control module 230 based on the rehabilitation robot apparatus 100 .

The movement control module 230 is coupled to the chair moving unit 220 to move the chair moving unit. The movement control module 230 includes a first driving unit for moving the chair moving unit 320 in the X-axis direction, a second driving unit for moving the chair moving unit 230 in the Y-axis direction, and an X-axis origin of the first driving unit. It may include a first sensor for detecting and a second sensor for detecting the origin of the Y-axis of the second driving unit.

The chair control module 230 will be described in more detail with reference to FIG. 2 . In particular, as shown in FIG. 2 , the first and second driving units included in the movement control module 230 may include a driving motor and a moving device, respectively. Specifically, the movement control module 230 includes an X-axis movement device 231-1 for moving the chair moving unit 220 in the X-axis direction, and a Y-axis for moving the chair moving unit 220 in the Y-axis direction. The moving device 231-2, the X-axis driving motor 232-1 for moving the X-axis moving device 231-1, and the Y-axis driving motor 232 for moving the Y-axis moving device 231-2 -2), an X-axis origin sensor 233-1 for detecting the X-axis origin, and a Y-axis origin sensor 233-2 for detecting the Y-axis origin may be included.

Each of the X-axis movement device 231-1 and the Y-axis movement device 231-2 is connected to the first gear, the second gear spaced apart from the first gear, and the first gear and the second gear, and the first gear and It may include a belt rotating through the driving of the second gear. In this case, the belt may be connected to the chair moving unit 220 , and the chair moving unit 220 may perform a linear motion through rotation of the belt.

Specifically, the X-axis moving device 231-1 may rotate the belt through driving of the X-axis driving motor 232-1 connected to the first gear, and the chair moving unit 220 connected to the belt Through rotation, it is possible to perform X-axis linear motion based on the rehabilitation robot apparatus 100 . The Y-axis moving device 231-2 may rotate the belt by driving the Y-axis driving motor 232-2 connected to the first gear, and the chair moving unit 220 connected to the belt may rotate the belt. It is possible to perform a Y-axis linear motion based on the rehabilitation robot apparatus 100 .

On the other hand, as described above, the implementation of the X-axis moving device 231-1 and the Y-axis moving device 231-2 with a plurality of gears and belts as a belt is only one embodiment, and is implemented with a different configuration. can be For example, each of the X-axis moving device and the Y-axis moving device may be implemented with a ball screw, and the X-axis driving motor and the Y-axis driving motor operate the chair moving unit 220 by driving the ball screw in forward or reverse rotation. It can be moved in the X-axis and Y-axis directions. As another example, the X-axis moving device and the Y-axis moving device may be implemented as a linear moving device, such as a linear motor including a driving motor.

In addition, the X-axis origin sensor 233-1 for detecting the X-axis origin and the Y-axis origin sensor 233-2 for detecting the Y-axis origin are the chair unit 210 based on the rehabilitation robot apparatus 100. (or the position of the origin of the chair moving unit 220 ) may be detected.

Again, referring to FIG. 1 , the computing device 300 may control the overall operation of the upper extremity rehabilitation apparatus 10 . In this case, the computing device 300 may include a user input unit 310 , a storage unit 320 , and a control unit 330 as shown in FIG. 1 . In this case, the configuration of the computing device 300 illustrated in FIG. 1 is only an exemplary embodiment, and other configurations (eg, a communication unit, a speaker, a microphone, etc.) may be further included.

The user input unit 310 may receive user commands from various input devices. In particular, the user input unit 310 may receive a user command for controlling the movement control module 330 . Also, the user input unit 310 may receive a user command for registering the patient's location information. Also, the user input unit 220 may receive a user command for updating the patient's location information.

In particular, the user input unit 310 may be implemented as a remote control, but this is only an exemplary embodiment, and may be implemented as various input devices such as a mouse, a keyboard, a touch screen, a voice recognition device, a motion recognition device, and the like.

The storage unit 320 may store at least one command related to the upper extremity rehabilitation apparatus 10 . In addition, an operating system (O/S) for driving the upper extremity rehabilitation apparatus 10 may be stored in the storage unit 320 . In addition, various software programs or applications for operating the upper extremity rehabilitation apparatus 10 according to various embodiments of the present disclosure may be stored in the storage unit 320 . In addition, the storage unit 320 may include a semiconductor memory such as a flash memory or a magnetic storage medium such as a hard disk.

In particular, the storage 320 may store patient information and patient location information. In particular, the storage unit 320 may match and store patient information (eg, name, resident number, gender, patient number, etc.) with location information of a chair on which the patient sits.

The controller 330 controls the overall operation of the upper extremity rehabilitation apparatus 10 . Specifically, the control unit 330 is connected to the configuration of the user input unit 310 and the storage unit 320 in the computing device 300 as well as the rehabilitation robot device 100 and the chair moving device 200, and stores the above-described storage device. By executing at least one command stored in the unit 320 , the operation of the upper extremity rehabilitation apparatus 10 may be generally controlled.

In particular, in various embodiments according to the present disclosure, when patient information is input through the user input unit 310 , the controller 330 retrieves the location information of the chair unit 210 corresponding to the patient information from the storage unit 320 . It is obtained, and the movement control module 230 may be controlled to move the chair unit 210 based on the obtained position information of the chair unit 210 .

Specifically, the controller 330 may store the patient's location information according to a user command input through the user input unit.

Specifically, when a user command for registering the patient's patient information is input, the control unit 330 may output a guide message as shown in FIG. 3A (eg, please enter the patient number and resident number). there is.

And, when patient information is input based on the guide message, the controller 330, as shown in FIG. 3B , provides a guide message for registering the location information of the patient (eg, register the location of the rehabilitation chair). Please move the location through the remote control.) can be output.

When a first user command is input through the user input unit 310 , the controller 330 may control the movement control module 230 to move the chair moving unit 220 according to the first user command. That is, when a user command is input to move the chair moving unit 220 along the X axis by X ₁ and the Y axis by Y ₁ through the user input unit 310, the control unit 330 displays the As shown, by driving the X-axis moving device 231-1 and the Y-axis moving device 231-2, respectively, the chair moving unit 220 moves by X ₁ and moves the chair so that it can move by Y ₁ along the Y axis. The module 230 may be controlled.

When a second user command is input through the user input unit, the control unit 330 may match the patient information with the first position of the chair unit 210 at the time the second user command is input and store it in the storage unit 220 . . At this time, as shown in FIG. 3C , the controller 330 may output a confirmation message 330 (eg, do you want to register?) for matching the position of the chair unit 210 with patient information.

Through the above-described process, the controller 330 may match and store the patient information with the first position (eg, (X ₁ , Y ₁ )) of the chair unit 310 .

Then, when patient information is later inputted through the user input unit 310 , the control unit 330 obtains position information of the chair unit 210 corresponding to the patient information from the storage unit 320 , and obtains the obtained chair unit 210 . ) may control the movement control module 230 to move the chair unit 210 based on the location information.

Also, the control unit 330 may update the position of the chair unit 310 during rehabilitation according to a user command.

Specifically, when a third user command is input through the user input unit 310 while the rehabilitation robot apparatus 100 is operating, the controller 330 may stop the operation of the rehabilitation robot apparatus 100 . Then, when a fourth user command is input while the operation of the rehabilitation robot apparatus 100 is stopped, the controller 330 controls the movement control module 230 to move the chair moving unit 220 according to the fourth user command. can do. For example, when a user command is input to move the chair moving unit 220 along the X axis by X ₂ and the Y axis by Y ₂ through the user input unit 310, the controller 330 moves the X axis By driving the device 231-1 and the Y-axis moving device 231-2, respectively, the chair moving unit 220 moves by X ₂ and controls the chair moving module 230 to move by Y ₂ along the Y axis. can do.

When a fifth user command is input through the user input unit, the control unit 330 may match the patient information with the second position of the chair unit 210 at the time the fifth user command is input and store it in the storage unit 320 . .

Also, the controller 330 may start the rehabilitation exercise in one of the first registered first position and the updated second position of the chair unit according to a user command. That is, the starting position of the rehabilitation exercise may be determined according to the user's selection.

Also, for the safety of the patient, the controller 330 may control the movement control module 230 not to move while the rehabilitation robot apparatus 100 is operating. That is, the controller 330 may control the movement control module 230 not to move while the rehabilitation robot apparatus 100 is operating without a separate user command from the user. In another embodiment, in order to prevent the movement control module 230 from moving while the rehabilitation robot apparatus 100 is operating, a separate fixing device may be included.

Meanwhile, in the above-described embodiment, it has been described that the chair moving unit 220 is moved along the X-axis and the Y-axis, but this is only an exemplary embodiment. It may be included in the technical spirit of the invention. In this case, a driving unit and a sensor for moving the chair moving unit 220 in the Z-axis direction may be further included.

In addition, according to an embodiment of the present disclosure, the robot rehabilitation apparatus 100 may further include a sensing device (not shown) capable of detecting that the patient sits. At this time, the sensing device 100 communicates with the control unit 330 of the computing device 300 through a wired or wireless communication module (eg, Bluetooth, Wifi, etc.) to provide information on the patient's seating. there is.

In addition, the robot rehabilitation apparatus 100 may further include a notification device (not shown) for guiding the patient sitting in a chair. In this case, the notification device may be implemented with a configuration for providing a visual notification (eg, a warning light, etc.) or a configuration for providing an audible notification (eg, a speaker, etc.). In particular, a configuration for providing a visual notification may exist at a leg or a separate location of the chair unit 210 on which the patient sits. In this case, the notification device may communicate with the controller 330 , and may provide a guide for a state in which the patient is seated in a chair under the control of the controller 330 .

The control unit 330 may detect the sitting state of the patient through the sensing device. Then, the control unit 330 checks the sitting state of the patient detected through the sensing device before starting the rehabilitation treatment, and when it is confirmed that the patient is in the seated state, the control unit 330 controls the movement control module 230 so that the chair unit 210 does not move. can

In addition, the controller 330 may control the movement control module 230 to move the chair unit 210 according to the user input after entering the position setting mode for setting the position of the chair on which the patient sits according to the user input. can

In addition, when it is detected that the patient is out of the seated state while the rehabilitation robot device 100 is operating, the controller 330 may provide a notification through the notification device, and may emergency stop or stop the rehabilitation robot device 100 . Thus, the operation of the rehabilitation robot apparatus 100 may be stopped by providing a signal to each component of the rehabilitation robot apparatus 100 .

As described above, although one embodiment of the present invention has been described with reference to the limited embodiments and drawings, one embodiment of the present invention is not limited to the above-described embodiments, which are common knowledge in the field to which the present invention pertains. Various modifications and variations are possible from such a base material. Accordingly, the scope of the present invention is shown in the claims rather than the above description, and all equivalents or equivalent modifications thereof will fall within the scope of the technical spirit of the present invention.

100: robot rehabilitation device 200: chair movement device
210: chair unit 220: chair moving unit
230: movement control module 300: computing device
310: user input unit 320: storage unit
330: control unit

Claims (8)

In the rehabilitation device,
a chair on which the patient can sit;
a chair moving part to which the chair part is fixed to move the chair part based on the rehabilitation robot;
a movement control module connected to the chair moving unit to move the chair moving unit;
a storage unit for storing location information of the chair unit for each patient; and
When patient information is input, the controller acquires position information of the chair unit corresponding to the patient information from the storage unit, and controls the movement control module to move the chair unit based on the obtained position information of the chair unit; includes; rehabilitation device. According to claim 1,
The movement control module,
a first driving unit for moving the chair moving unit in the X-axis direction;
a second driving unit for moving the chair moving unit in the Y-axis direction;
a first sensor for detecting an X-axis origin of the first driving unit; and
Rehabilitation apparatus including a second sensor for detecting the Y-axis origin of the second driving unit. 3. The method of claim 2,
Each of the first driving unit and the second driving unit,
first gear;
a second gear spaced apart from the first gear;
a drive motor connected to the first gear; and
Rehabilitation apparatus comprising a; belt connected to the first gear and the second gear and rotated through the driving of the first gear and the second gear. 3. The method of claim 2,
Each of the first driving unit and the second driving unit,
ball screw;
Rehabilitation apparatus including; a drive motor for driving the ball screw forward rotation or reverse rotation. According to claim 1,
It further includes; a user input unit for receiving a user command;
The control unit is
When a first user command is input through the user input unit, the movement control module is controlled to move the chair moving unit according to the first user command,
When a second user command is input through the user input unit, the rehabilitation apparatus stores the patient information by matching the patient information with the first position of the chair unit at the time the second user command is inputted. 6. The method of claim 5,
The control unit is
When a third user command is input through the user input unit while the rehabilitation robot is operating, the operation of the rehabilitation robot is stopped,
When a fourth user command is input while the operation of the rehabilitation robot is stopped, the movement control module is controlled to move the chair moving unit according to the fourth user command,
When a fifth user command is input through the user input unit, the patient information is matched with the second position of the chair unit at the time the fifth user command is input and stored in the storage unit. 7. The method of claim 6,
The control unit is
A rehabilitation apparatus for starting a rehabilitation exercise in one of a first position and a second position of the chair unit according to the user's command. According to claim 1,
The control unit is
A rehabilitation apparatus for controlling the movement control module not to move while the rehabilitation robot is operating.

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