KR20220063319A - Upper limb rehabilitation method using virtual reality display unit and upper limb motility sensing unit, upper limb rehabilitation system and program using thereof - Google Patents

Abstract

The present invention relates to upper limb rehabilitation method, system, and program using a virtual reality (VR) display unit and an upper limb motility sensing unit, to enable a patient to perform rehabilitation treatment efficiently. According to the present invention, the upper limb rehabilitation system comprises: a motion sensor unit sensing motion information of the upper limbs; an upper limb rehabilitation control unit including a control unit converting upper limb motion data to acquire coordinate values and bending angles for a user's upper limb motion, a content management unit managing rehabilitation task content including unit tasks under the control of the control unit, a memory unit, a communication unit, and a display unit; and a VR unit outputting the rehabilitation task content from the content management unit and outputting the user's upper limb motion to be synchronized with a virtual screen according to the coordinate values and bending angle obtained from the control unit.

Description

Upper limb rehabilitation method using virtual reality display unit and upper limb motility sensing unit, upper limb rehabilitation system and program using thereof

The present invention provides an upper extremity rehabilitation treatment using a VR unit and an upper extremity motion sensor unit for improving the objectivity of patient evaluation by a rehabilitation therapist and a doctor and motivating the patient for rehabilitation using a method and system for upper extremity rehabilitation treatment using a VR unit and an upper extremity motion sensor unit It relates to methods, systems and programs. In more detail, the VR unit that provides upper extremity rehabilitation treatment contents to patients with upper extremity paralysis, and upper extremity motion sensing using embedded devices and sensors, objectively evaluate the patient's condition through a medical database, and utilize it directly or indirectly for medical judgment. It relates to a method, system, and program for upper extremity rehabilitation using a VR unit and an upper extremity motion sensor unit for providing medical information to a doctor.

Recently, as we enter an aging and aging society, the number of stroke patients is increasing, the number of patients with spinal cord injuries due to traffic accidents is increasing, and the number of patients suffering from brain damage such as stroke, traumatic external injury, cerebral palsy, etc. An upper extremity rehabilitation method and a related apparatus that can be applied to a patient who lacks active hand movement due to a disease are being developed.

As a limitation of palliative rehabilitation treatment, palliative rehabilitation treatment for upper extremity function of stroke patients is effective for motor function and independent daily life performance, but there is a limitation in that it is difficult to quantitatively obtain physiological information about the patient. In addition, research results have been published that the evaluation results are not consistent due to the involvement of the therapist's subjectivity.

In addition, the existing upper extremity rehabilitation treatment does not provide sufficient rehabilitation period for brain stroke patients, resulting in low voluntary participation. The causes of this decline were injury fear, lack of knowledge, and lack of motivation in the order, and improvement is required to provide the motivation for this rehabilitation motivation.

On the other hand, a representative method for evaluating the improvement of existing rehabilitation treatment and upper extremity function is "Jebson-Taylor hand function evaluation". It consists of various exercises to evaluate the performance of complex movements, and the list consists of the following 7 items. 1. Writing, 2. Simulated page turning, 3. Lifting small objects, 4. Simulated feeding, 5. Stacking, 6. Lifting large lightweight objects (Moving large and light objects), 7. Lifting large heavyweight objects. The Jebson-Taylor hand function evaluation takes a method of deriving the performance delay task item by measuring and recording the task execution time using the dominant hand and the non-dominant hand for the above seven items.

The Jebson-Taylor hand function evaluation is a variable item that affects the hand function evaluation score, and it is difficult to analyze the results from multiple angles in that it takes one time to perform the task. And it has limitations in that it is judged by the subjectivity.

In upper extremity rehabilitation, it is necessary to understand the patient's motion linearity and ROM (maximum joint range of motion), but the Jebson-Taylor hand function evaluation is difficult to identify the symptoms and requires additional expensive equipment.

Laid-Open Patent Publication No. 10-2016-0141095, 2016.12.08

An object of the present invention is to provide a method, system and program for upper extremity rehabilitation using a VR unit and an upper extremity motion sensor unit. In more detail, the VR unit that provides upper extremity rehabilitation treatment contents to patients with upper extremity paralysis, and upper extremity motion sensing using embedded devices and sensors, objectively evaluate the patient's condition through a medical database, and utilize it directly or indirectly for medical judgment. It is intended to provide a method, system, and program for providing medical information to doctors.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

The upper extremity rehabilitation system using a VR unit and an upper extremity motion sensor unit according to an aspect of the present invention for solving the above-described problems includes a motion sensor unit sensing motion information of the upper extremity, and converting motion data of the upper extremity for motion of the upper extremity. Upper extremity rehabilitation control including a control unit for acquiring coordinate values and bending angles, a content management unit for managing rehabilitation task contents consisting of unit tasks and managing the rehabilitation task contents according to the control of the control unit, a memory unit, a communication unit, and a display unit and a VR unit for outputting the rehabilitation task content from the content management unit and outputting the user's upper extremity movement to be synchronized with the virtual screen according to the coordinate values and bending angles obtained from the control unit.

The motion sensor unit may include a finger sensor unit, an elbow sensor unit, and a shoulder sensor unit.

The finger sensor unit, a first sensor for measuring the degree of bending of an individual finger as an angle, a second sensor for measuring the rotation of the wrist, and a finger sensor for processing data collected from the first sensor and the second sensor It may include a motherboard.

The first sensor is a sensor sensed from a thumb bending measurement unit, a forceps bending measurement unit, a middle finger bending measurement unit, a ring finger bending measurement unit, a baby bending measurement unit and a plurality of measurement units including a plurality of flex sensors formed with a flexible hand. It may include a multiplexer to process the values.

The second sensor may include an IMU sensor that measures the rotation of the wrist.

The elbow sensor unit may include a third sensor for measuring the bending of the elbow, including a flex sensor, and an elbow sensor main board for processing the measured value of the measured third sensor.

The elbow sensor unit may further include an elbow support for supporting the third sensor and the elbow sensor main board, and a detachable Velcro for fixing the elbow support to the elbow.

The shoulder sensor unit may include a fourth sensor for measuring the bending of the shoulder, including a flex sensor, and a shoulder sensor motherboard for processing the measured value of the measured fourth sensor.

The shoulder sensor unit extends from the shoulder girdle supporting unit and both shoulder girdle supporting units supporting the fourth sensor and the shoulder sensor main board in the form of a shoulder girdle to connect to both shoulder girdle supporting units located in different directions, and a buckle for fastening both belts may further include.

The communication unit receives the sensed data from the motion sensor unit and transmits it to the control unit,

The controller may determine whether the received data is the IMU measurement data, and if the data corresponds to the IMU measurement data, convert the data to obtain a wrist rotation coordinate value.

When the received data is IMU measurement data, the controller first converts it into a quaternion value through a quaternion transformation algorithm, and secondarily converts it into an Euler value through an Euler transformation algorithm to obtain a wrist rotation coordinate value.

The communication unit receives the sensed data from the motion sensor unit and transmits it to the control unit,

The control unit, by determining whether the received data is flex sensor measurement data, it is possible to obtain a bending angle value of the upper limb.

The control unit, when the received data is flex sensor measurement data, firstly filters the noise value with an IIR filter, and secondarily converts the angle with a bending angle conversion algorithm to obtain a bending angle value of the upper limb.

The control unit transmits the coordinate values and bending angles for the motion of the upper extremities obtained through transformation to the display unit,

The display unit may transmit output information to apply the received data to the patient's hand model in the VR space, or transmit output information to show the data on an external display.

The content management unit transmits the rehabilitation task content consisting of a unit task (task) to the control unit,

The motion sensor unit senses the data for each task and transmits it to the control unit,

The control unit may match the coordinate values and bending angle data for the motion of the upper extremities obtained through transformation for each unit task in units of tasks.

The control unit may store the matched data as a database in the memory unit, transmit it to the display unit to be transmitted to an external device, or transmit it to the communication unit to transmit the matched data to a server, a local computing device, or a patient management system to be accessible through a communication network.

The content management unit may include at least one of a first content for observing the stroke patient's motion classification, a second content for improving a complex activity function by performing a continuous task until completion, and a third content consisting of complex repetitive training there is.

The upper extremity rehabilitation treatment method using VR according to another aspect of the present invention for solving the above-described problems includes the steps of sensing the motion of the upper extremities in each task unit of the rehabilitation task contents composed of unit tasks and acquiring data; Converting one upper extremity motion data into coordinate values and bending angles for motion of the upper extremities; and

and outputting the obtained coordinate values and bending angles to the VR unit so that the motion of the user's upper extremities is synchronized to the virtual screen.

The step of acquiring the data includes the steps of calling the rehabilitation task content from the content management unit, calibrating the operation of the user and the VR, and the user performing the rehabilitation task content by unit, and converting the upper extremity exercise data into the task unit It may include a step of acquiring stars.

After the step of converting the coordinate values and bending angles, the method may further include transmitting the converted coordinate values and bending angle data for each task to a server or storing the converted coordinate values and bending angle data in a database in a memory unit.

After the step of converting the coordinate values and bending angles, the method may further include transmitting the converted coordinate values and bending angle data for each task to a server or storing the converted coordinate values and bending angle data in a database in a memory unit.

After the step of outputting, accessing the database through an external server to display patient information on a display, selecting a specific patient through a search and displaying the reproduction record information of the selected patient, and selecting a specific reproduction record The method may further include providing each task performance information included in the content in a graph format.

The upper extremity rehabilitation treatment program according to another aspect of the present invention for solving the above-described problems may be stored in a medium to execute the above-described upper extremity rehabilitation treatment method using VR.

Other specific details of the invention are included in the detailed description and drawings.

The upper extremity rehabilitation treatment method, system and program using the VR unit and the upper extremity motion sensor unit according to the present invention provide specific rehabilitation treatment contents through a highly immersive VR unit, and precise rotational coordinates and bending of the upper extremities of the patient performing the contents By quantitatively acquiring angle data, the disadvantages of palliative upper extremity rehabilitation can be overcome.

In the case of the VR unit, a virtual space is formed so that the rehabilitation treatment contents provided by the content management unit can be performed for each unit task, and rotational coordinates and bending angle data obtained by converting the user's upper extremity movement from the sensing data provided by the motion sensor unit are reflected. By synchronizing, it is possible to perform a smooth rehabilitation treatment of the patient, and it may be possible to improve the rehabilitation motivation.

In addition, the data measured according to the present invention is stored as a database in the memory unit for each unit task of the rehabilitation content, and it is possible to provide a function to check the patient's treatment history, symptom trend, etc. through a web page. The data can be accessed from the private network within the hospital, and can be configured to be accessible from the external network limitedly according to the user's needs.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a block diagram schematically illustrating an upper extremity rehabilitation system according to the present invention.
2 is a block diagram illustrating a motion sensor unit according to the present invention in more detail.
3 shows an example in which the motion sensor unit according to the present invention is worn.
4 is a block diagram illustrating in more detail a finger sensor unit according to the present invention.
5 is a block diagram illustrating an elbow sensor unit according to the present invention in more detail.
6 is a block diagram illustrating in more detail a shoulder sensor unit according to the present invention.
7 is a flowchart illustrating in detail an embodiment of the upper extremity rehabilitation method according to the present invention.
8 is a flowchart illustrating another embodiment of the upper extremity rehabilitation method according to the present invention.
9 is a flowchart illustrating another embodiment of the upper extremity rehabilitation method according to the present invention.
10 is a diagram illustrating an example of a VR virtual space in which upper extremity rehabilitation contents according to the present invention are implemented.
11 is a view exemplarily showing a state in which the rehabilitation treatment program according to the present invention is driven.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the present embodiments allow the disclosure of the present invention to be complete, and those of ordinary skill in the art to which the present invention pertains. It is provided to fully understand the scope of the present invention to those skilled in the art, and the present invention is only defined by the scope of the claims.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other components in addition to the stated components. Like reference numerals refer to like elements throughout, and "and/or" includes each and every combination of one or more of the recited elements. Although "first", "second", etc. are used to describe various elements, these elements are not limited by these terms, of course. These terms are only used to distinguish one component from another. Accordingly, it goes without saying that the first component mentioned below may be the second component within the spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used herein will have the meaning commonly understood by those of ordinary skill in the art to which this invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless specifically defined explicitly.

Spatially relative terms "below", "beneath", "lower", "above", "upper", etc. It can be used to easily describe the correlation between a component and other components. Spatially relative terms should be understood as terms including different directions of components during use or operation in addition to the directions shown in the drawings. For example, when a component shown in the drawing is turned over, a component described as “beneath” or “beneath” of another component may be placed “above” of the other component. can Accordingly, the exemplary term “below” may include both directions below and above. Components may also be oriented in other orientations, and thus spatially relative terms may be interpreted according to orientation.

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

1 is a block diagram schematically illustrating an upper extremity rehabilitation system 1000 according to the present invention. Referring to FIG. 1 , the upper limb rehabilitation system 1000 may include an upper limb rehabilitation control unit 1100 , a VR unit 1200 , and a motion sensor unit 1300 .

The upper extremity rehabilitation control unit 1100 may include a control unit 1110 , a memory unit 1120 , a communication unit 1130 , a display unit 1140 , and a content management unit 1150 .

The control unit 1110 receives data measured by the motion sensor unit 1300 through the communication unit 1130 , performs calculations such as data conversion, graphs so that doctors and patients can recognize necessary information, and displays the display unit 1140 . ) to transmit related data to the external display 1400 or the VR unit 1200 .

In the algorithm operation, the controller 1110 retrieves the rehabilitation content from the content management unit 1150 and displays it on the VR unit 1200 so that the patient can perform the upper extremity rehabilitation exercise task, and the exercise sensor unit 1300 obtains By processing the sensed data and converting it into rotational coordinates and bending angles, the VR unit controls the movement of the patient and the screen in virtual space to be synchronized.

The control unit 1110 may be included in a separate computing device or server device, but is not limited thereto, and may exist in an online network or application, and is not limited to a particular embodiment. In the case of a hospital, the control unit may be included in the computing device and installed in the treatment room.

The controller 1110 is a subject that executes and drives the VR program for rehabilitation, and may perform an operation for applying a filtering algorithm to the data received from the motion sensor unit 1300 . In more detail, the controller 1110 may convert the motion measurement data and set a value out of the range of the maximum value and the minimum value as the corresponding boundary value.

The controller 1110 may determine whether the data sensed by the motion sensor unit 1300 is IMU measurement data, and if the data corresponds to the IMU measurement data, convert the data to obtain a wrist rotation coordinate value. Specifically, when the received data is IMU measurement data, the control unit 1110 firstly converts it into a quaternion value through a quaternion transformation algorithm, and secondarily converts it into an Euler value through the Euler transformation algorithm to convert the wrist rotation coordinate value. can be obtained. These algorithms are illustrative only and not limiting.

The controller 1110 may determine whether the data sensed by the motion sensor unit 1300 is flex sensor measurement data to obtain a bending angle value of the upper limb. Specifically, the bending angles of fingers, elbows and shoulders may be obtained. Specifically, when the received data is flex sensor measurement data, the control unit 1110 first filters the noise value with an IIR filter, and secondarily converts the angle with a bending angle conversion algorithm to obtain the bending angle value of the upper extremity. can be obtained

The controller 1110 may classify/match the obtained wrist rotation coordinate values and finger, elbow and shoulder bending angles for each unit task of the rehabilitation content and form a database in the memory unit 1120 . In addition, the corresponding data can be displayed on the external display 1400 , and the related data is transmitted through the display unit 1140 and the control unit 1110 so that the user's movement of the VR unit 1200 is synchronized, and the upper limbs are displayed in the virtual space. of motion information can be displayed.

The memory unit 1120 may provide the upper extremity rehabilitation control unit 1100 with storage for storing data such as programs, databases, and rehabilitation contents. The memory unit 1120 may be a commercially available storage space such as RAM, ROM, flash memory, hard disk, or a removable disk.

The communication unit 1130 provides a function for the upper extremity rehabilitation control unit 1100 to transmit and receive data to and from external devices. For example, the communication unit 1130 transmits/receives data to the VR unit 1200 , the motion sensor unit 1300 , the external display 1400 , the patient management system 1500 , the server 1600 , the local computing device 1700 , and the like can do. Regardless of whether the communication method is wired or wireless, the concept and technology of all currently commercialized communication methods may be included.

The display unit 1140 shows a configuration in which the upper extremity rehabilitation control unit 1100 controls and transmits visual data through which the user can visually check the screen. The display unit 1140 may control the operation of the external display 1400 through which a patient or medical staff, such as a monitor, TV, or a beam projector, can check data, conversion data, graphs, etc. related to upper extremity rehabilitation control in real time. The display unit 1140 shows a virtual space in which the VR unit 1200 reflects the rehabilitation contents provided by the content management unit 1150 , and graphic data of the upper extremities reflecting the coordinates and angle data calculated and converted by the control unit 1110 . can be controlled to be output from the VR unit 1200 .

The content management unit 1150 represents a configuration for managing and controlling contents for upper limb rehabilitation. The content management unit 1150 manages a plurality of contents for upper extremity rehabilitation and divides and manages each content by unit task, so that quantitative data of the upper extremity rehabilitation system 1000 according to the present invention corresponds to one rehabilitation content. Rather, it has a function of providing an environment in which quantitative data can be dealt with for each of a plurality of unit tasks covered by the rehabilitation contents.

The content manager 1150 may include the first content for observing the motion classification of the stroke patient. In more detail, the first content is an activity observation content for classifying a stroke patient's motion and activating a nerve. The content management unit 1150 may include the second content for improving the complex activity function by performing the continuous task until it is completed. The second content is rehabilitation content for a stroke patient's return to society and may include cooking content for completing one dish. The content management unit 1150 may include third content composed of complex repetitive training. The third content may be fruit cutting game content for complex repetitive training and reinforcement of situational judgment.

As described above, the VR unit 1200 displays a model in which the upper extremity movement data measured by the motion sensor unit 1300 is reflected data converted by the controller 1110 in a virtual space, and displays the rehabilitation contents to display the rehabilitation treatment target. Indicates a virtual reality device that can participate.

The motion sensor unit 1300 represents a device that is attached to the body of a subject for rehabilitation treatment, senses motion information related to upper extremities such as hands, elbows, and shoulders, and transmits the corresponding data to the rehabilitation control unit 1000 . The motion sensor unit 1300 may measure both rotation data and angle data. A detailed configuration of the motion sensor unit 1300 will be described later in the description related to FIGS. 2 to 6 .

The external display 1400 converts the upper extremity motion data measured by the motion sensor unit 1300 into each joint angle of the upper extremities in the control unit 1110, and the VR content is executed in the VR unit 1200 while the patient's range of motion in real time, etc. Displays the display unit to check the sensor data measurement data.

2 is a block diagram showing the motion sensor unit 1300 according to the present invention in more detail. 3 shows an example in which the motion sensor unit 1300 according to the present invention is worn. 4 is a block diagram illustrating in more detail the finger sensor unit 1310 according to the present invention. 5 is a block diagram illustrating in more detail the elbow sensor unit 1320 according to the present invention. 6 is a block diagram illustrating in more detail the shoulder sensor unit 1330 according to the present invention.

Hereinafter, the configuration and function of the motion sensor unit 1300 will be described in detail with reference to FIGS. 2 to 6 .

Referring to FIG. 2 , the motion sensor unit 1300 includes a finger sensor unit 1310 , an elbow sensor unit 1320 , a shoulder sensor unit 1330 , and an information transmitter 1340 .

2 and 4 , the finger sensor unit 1310 includes a first sensor 1311 sensing the degree of bending of a finger, and a second sensor 1312 and a first sensor 1311 sensing wrist rotation information. , and a finger sensor main board 1313 for receiving data sensed by the second sensor 1312 .

Specifically, the first sensor 1311 may include a bending measuring unit corresponding to each finger of the hand. For example, the first sensor 1311 includes a thumb bending measurement unit 1311-f5, a forefinger bending measurement unit 1311-f2, a middle finger bending measurement unit 1311-f3, and a ring finger bending measurement unit 1311-f4. , may include a multiplexer (1311-MUX) for processing the sensor values sensed from the cub bending measurement unit (1311-f5) and a plurality of measurement units.

Each bending measurement unit may include a plurality of flex sensors 1311 - f1 -fs. Although it is illustrated that two to three flex sensors are included in each bending measuring unit in the drawings shown, the present invention is not limited thereto.

Specifically, the second sensor 1312 may include an IMU sensor that measures the rotation of the wrist.

The finger sensor motherboard 1313 may include an I2C chip 1313-I2C that receives data from the second sensor 1312 and an ADC chip 1313-ADC that receives data from the first sensor 1311 . . The finger sensor main board 1313 may include an information transmission chip 1313-CM as an additional component, but is not limited thereto, and is integrally processed by the information transmission unit 1340 included in the motion sensor unit 1300 . it might be

2 and 5 , the elbow sensor unit 1320 includes a third sensor 1321 and an elbow sensor main board 1322 . The third sensor 1321 may include a flex sensor.

The elbow sensor unit 1320 may further include a detachable Velcro 1323 for fixing the third sensor 1321 and the elbow sensor main board 1322 to the elbow support 1324 and the elbow support 1324 to the elbow. there is.

2 and 6 , the shoulder sensor unit 1330 includes a fourth sensor 1331 and a shoulder sensor sensor main board 1332 . The fourth sensor 1331 may include a flex sensor.

The shoulder sensor unit 1330 extends from the shoulder girdle support unit 1333 and both shoulder girdle supporting unit 1333 supporting the fourth sensor 1331 and the shoulder sensor main board 1332 in the form of a shoulder girdle, and is located in different directions. It may further include a buckle 1334 for fastening the belt 1335 and both belts 1335 to be connected to the 1333.

7 is a flowchart illustrating in detail an embodiment of the upper extremity rehabilitation method according to the present invention.

Referring to Figure 7, the step of receiving data from the motion sensor unit to the control unit (S110), the step of determining whether it is IMU measurement data (S120), the step of converting the data into a quaternion value with a quaternion conversion algorithm in the case of IMU measurement data ( S130), converting data into Euler angles using an Euler transformation algorithm (S140), and obtaining a wrist rotation coordinate value (S150).

If it is not the IMU measurement data, the step of determining the flex sensor measurement data (S200) is performed, and in the case of the flex sensor measurement data, the step of filtering the noise value with an IIR filter (S210), the angle conversion with the bending angle conversion algorithm (S220) ), including a step (S230) of obtaining a bending angle value of a finger, an elbow, and a shoulder,

If it is not even the flex sensor measurement data, the step (S300) of determining whether it is a data error is performed, and if it is a data error, the data is discarded (S310), and if it is not classified even though it is correct data, it is IMU measurement data again It includes the step of transmitting the data to the step of determining (S120).

After obtaining the result of the data conversion step (S150, S230) described above, the step of showing the data on the external display (S160), the step of transmitting the data stored in the memory unit to the server (S170), the patient in the VR space and applying the data to the hand model (S180).

8 is a flowchart illustrating another embodiment of the upper extremity rehabilitation method according to the present invention.

Referring to FIG. 8 , the content management unit starts by calling in the rehabilitation contents (S410), the patient adjusts the sensor and the physical entity of the patient by measuring the sensor signal when the hand is held up to the maximum and when the hand is extended to the maximum ( S410 ). calibration) step (S420), starting a rehabilitation unit task (task) for each rehabilitation content (S430), sensing data for each task in the motion sensor unit (S440), the controller detects the end of all unit tasks In this case, it includes a step (S450) of terminating the sensing, and a step (S460) of storing data for each task as a database in the memory unit and transmitting the data to the server (S460).

9 is a flowchart illustrating another embodiment of the upper extremity rehabilitation method according to the present invention.

Referring to FIG. 9 , the content management unit calls the rehabilitation contents to the control unit to reproduce the rehabilitation contents (S510), the exercise sensor unit senses data for each task and transmits it to the control unit (S520), the control unit converts data into memory The step of storing the json file in the DB and sending it to the local computing device and server (S530), accessing the DB stored in the memory unit through the web environment and displaying the registered patient information (S540), the patient through the search The method includes selecting and displaying the reproduction record information of the selected patient (S550), and selecting a specific reproduction record and displaying each task performance information belonging to the selected content in a graph format on the display (S560).

10 is a diagram illustrating an example of a VR virtual space in which upper extremity rehabilitation contents according to the present invention are implemented. 11 is a view exemplarily showing a state in which the rehabilitation treatment program according to the present invention is driven.

10 and 11 , the patient can inspire motivation for rehabilitation treatment, perform rehabilitation treatment contents organized by unit task in a virtual space, and calculate the actual upper extremity movement through the upper extremity rehabilitation control unit. It can be modeled and reflected in the VR unit.

The steps of a method or algorithm described in connection with an embodiment of the present invention may be implemented directly in hardware, as a software module executed by hardware, or by a combination thereof. A software module may be a random access memory (RAM), read only memory (ROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, hard disk, removable disk, CD-ROM, or It may reside in any type of computer-readable recording medium well known in the art to which the present invention pertains.

As mentioned above, although embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art to which the present invention pertains know that the present invention may be embodied in other specific forms without changing the technical spirit or essential features thereof. you will be able to understand Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

1000: upper limb rehabilitation system 1100: upper limb rehabilitation control unit
1200: VR unit 1300: motion sensor unit
1400: external display 1500: patient management system
1600: server 1700: local computing device
1110: control unit 1120: memory unit
1130: communication unit 1140: display unit
1150: content management unit 1310: finger sensor unit
1320: elbow sensor unit 1330: shoulder sensor unit
1340: information transmitter

Claims (10)

In the upper extremity rehabilitation system using a VR unit and an upper extremity motion sensor unit,
a motion sensor unit for sensing motion information of the upper extremity;
A control unit that converts motion data of the upper extremities to obtain coordinate values and bending angles for motion of the upper extremities, a content management unit that manages the contents of the rehabilitation task consisting of unit tasks and manages the contents of the rehabilitation task according to the control of the control unit; an upper extremity rehabilitation control unit including a memory unit, a communication unit, and a display unit; and
a VR unit for outputting the contents of the rehabilitation task from the content management unit, and outputting the user's upper extremity movement to be synchronized with the virtual screen according to the coordinate values and bending angles obtained from the control unit; Upper extremity rehabilitation system comprising. According to claim 1,
The motion sensor unit includes a finger sensor unit, an elbow sensor unit and a shoulder sensor unit,
The finger sensor unit,
a first sensor for measuring the degree of bending of each finger in an angle;
a second sensor capable of measuring the rotation of the wrist; and
Including; a finger sensor main board for processing the data collected from the first sensor and the second sensor,
The first sensor is a thumb bending measurement unit comprising a plurality of flex sensors formed of a flexible hand, a forceps bending measurement unit, a middle finger bending measurement unit, a ring finger bending measurement unit, a baby bending measurement unit and a plurality of measurement units. including a multiplexer for processing sensor values;
The second sensor is an upper extremity rehabilitation system including an IMU sensor for measuring the rotation of the wrist. 3. The method of claim 2,
The elbow sensor unit,
a third sensor for measuring elbow flexion, including a flex sensor;
Elbow sensor main board for processing the measured value of the third sensor;
an elbow support for supporting the third sensor and the elbow sensor main board; and
Upper extremity rehabilitation system comprising a; detachable Velcro for fixing the elbow support to the elbow. 3. The method of claim 2,
The shoulder sensor unit,
a fourth sensor for measuring bending of the shoulder, including a flex sensor;
a shoulder sensor main board that processes the measured value of the fourth sensor;
a shoulder blade support for supporting the fourth sensor and the shoulder sensor main board in the form of a shoulder blade;
a belt extending from both shoulder girdle supporting units to be connected to both shoulder girdle supporting units located in different directions; and
Upper extremity rehabilitation system comprising a; buckle to fasten both belts. According to claim 1,
The communication unit receives the sensed data from the motion sensor unit and transmits it to the control unit,
When the received data is IMU measurement data, the controller primarily converts it into a quaternion value through a quaternion transformation algorithm, and secondarily converts it into an Euler value through an Euler transformation algorithm to obtain wrist rotation coordinates. system. According to claim 1,
The communication unit receives the sensed data from the motion sensor unit and transmits it to the control unit,
The control unit, when the transmitted data is flex sensor measurement data, firstly filters the noise value with an IIR filter, and secondarily converts the angle with a bending angle conversion algorithm to obtain an upper limb bending angle value. According to claim 1,
The control unit transmits the coordinate values and bending angles for the motion of the upper extremities obtained through transformation to the display unit,
The display unit transmits output information so that the received data is applied to the patient's hand model in the VR space, or transmits output information so that the data is displayed on an external display. According to claim 1,
The content management unit transmits the rehabilitation task content composed of a unit task to the control unit,
The motion sensor unit senses the data for each task and transmits it to the control unit,
The control unit matches the coordinate values and bending angle data for the motion of the upper extremities obtained through transformation for each unit task by task unit, and stores the matched data as a database in the memory unit or to the display unit to be transmitted to an external device. An upper extremity rehabilitation system for delivering or delivering to a communication unit to deliver to a server, a local computing device, or a patient management system to be accessible through a communication network. Acquiring data by sensing the motion of the upper extremities in units of each task of the rehabilitation task contents composed of unit tasks;
converting the obtained upper extremity motion data into coordinate values and bending angles for motion of the upper extremities; and
outputting the obtained coordinate values and bending angles to the VR unit so that the motion of the user's upper extremities is synchronized to the virtual screen; Upper extremity rehabilitation treatment method using VR comprising a. In combination with hardware that is a computer, stored in the medium to execute the method of claim 9, upper extremity rehabilitation treatment program.

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