RU2184517C2 - Method and device for performing biomechanical muscle stimulation and motor function recovering - Google Patents

Abstract

FIELD: medicine; medical engineering. SUBSTANCE: method involves setting head, corpus, extremities, fingers and toes in a starting position. Compulsory movements of the body parts are caused with physiological patient state parameters being measured in parallel. The measured parameters are compared to permissible values defined for those parameters. Control signals are formed on the basis of these comparison results and predefined program laws of the body part movements. The control signals are calculated from a functional depending on motion parameter deviations and on time derivatives of the deviations when comparing them to ones of programmed movements. The programmed movement modes are changeable in the direction of increasing or reducing movement intensity. The device has base, drive governing the required body part movements, unit for controlling the drive, means for carrying out forced attachment of extremities to drive members, transducers recording real motion laws of the drive, processor, electric and pneumatic power supply source. Executive units of the drive are modules, sections and members like symmetric or asymmetric inflatable chambers individually controllable with an electropneumatic valve system from electric power supply source. All chambers are manufactured from ecologically clean materials having when required, residual elastic properties in required directions. Real drive motion law transducers and physiological state transducers are connected to control unit input. EFFECT: enhanced effectiveness of treatment; accelerated healing process; enabled multiple repeated surgical interventions. 2 cl, 19 dwg

Description

 The invention relates to the field of rehabilitation (restorative) medicine and can be used in combination with reflexology, medical and orthopedic surgical treatment of a patient with impaired motor functions, in particular for the treatment of cerebral palsy (cerebral palsy).

 A known method of stimulating muscles and restoring the motor functions of a sick child, for example, cerebral palsy / 1 /, which consists in the implementation of the movements of the head and body, arms and legs, fingers and feet with the hands of a doctor or nurse in accordance with the methods of physiotherapy. This method is effective, but debilitating for attending highly qualified medical staff.

 Therefore, the disadvantage of this method is the need to have highly qualified medical staff. The second disadvantage of this method is the lack of objective information about the physiological state of such a patient who cannot respond to the actions of a doctor or nurse. And in the absence of information about the pulse rate, respiratory rate, blood pressure and body temperature, the attending physician or nurse can not always provide the optimal regimen of physiotherapy exercises for the specified patient, in particular for the child.

 A known method of biomechanical muscle stimulation and restoration of motor functions of an adult suffering from cerebral palsy / 2 /, which consists in setting the head, trunk and limbs in the initial position and in the implementation of programmed movements of these parts of the body in accordance with the methods of physiotherapy using rigid mechanical simulators, controlled by a strict program, provided that the patient can give signals of physical discomfort or turn the simulator on and off with excessive or suboptimal physical exertion. A known device that implements the method / 2 / containing installed on the basis of the drive, the drive control device, devices for attaching parts of the body, interconnected with the drive through the sensors of the real laws of motion, the processor and the source of electric power supply, while the sensors of the real laws of motion are connected to the input of the processor, the output of the processor is connected to the input of the drive control device, which is connected to an electric power supply source.

 The disadvantage of this method is its use only for an adult, and it is known that the treatment of cerebral palsy gives a greater healing effect during the neonatal period and in infancy, provided that the diagnosis is made correctly.

 The objective of the proposed method is to expand the functionality of the method of biomechanical muscle stimulation and increase its effectiveness for the restoration of motor functions, namely its use for patients of all ages, starting with newborns, by controlling the stimulation process and forming a gentle movement program.

 The problem is solved in that in the method of biomechanical muscle stimulation and restoration of motor functions, in which the patient’s head, trunk, limbs and fingers are set to the initial position and the forced movement of these body parts is set according to the program - the method of physiotherapy exercises, according to the invention, individual preliminarily determined for the patient, the maximum permissible values of the parameters of the physiological state: heart rate, respiratory rate, blood pressure, temperature and then concurrently with the forced movement of the body portions continuously performed measurement of these parameters determine the difference between the measured values and the respective admissible values, and these differences were analyzed by analyzing the movements of the body parts form control signals implementing these movements past or stopped.

 To increase the kinematic and dynamic accuracy of the implementation of the programmed movements of the patient’s body parts, the motion control signals are calculated by a functional that depends on the deviations of the motion parameters from their program values and on the time derivatives of these deviations.

 To implement a more effective therapeutic effect of movements on the patient, the regimes of program movements are changed depending on his individual physiological state either in the direction of increasing the intensity of movements, or in the direction of its weakening.

 The introduction of the proposed method of establishing the individual physiological state parameters maximum permissible values for each patient allows an objective choice of the mode of movements, and the constant measurement of these parameters and monitoring the change in the difference in their values relative to the permissible ones allow you to adjust the intensity of movements, increasing or decreasing it, or stop the procedure at the moment. A feature of the method is that it does not depend on the visual feedback of the patient (child) with the doctor and on the intuition of the latter to determine the modes of movement, which expands the functionality of the method and is applicable to patients in any condition of all ages, including newborns.

 To implement the method, a device has been developed for biomechanical muscle stimulation and restoration of motor functions, comprising a drive installed on the base, a drive control device, devices for attaching body parts, interconnected with the drive through sensors of real laws of motion, a processor, an electric air supply source, in which actuating devices according to the invention drives are made in the form of blocks, sections and elements, which are inflatable chambers located on the base, connected connected by a system of electro-pneumatic valves with a source of electro-pneumatic power supply and equipped with sensors of a physiological state, while the last sensors and sensors of real laws of motion are connected to the input of the processor, the output of the processor and physiological state sensors are connected to the input of the drive control device, which is connected to the source of electro-pneumatic power.

 The implementation of the device for stimulation in the described way allows you to automatically implement the patient’s movements according to modern methods of physiotherapy, to ensure independence of movements of different parts of the body, as well as to regulate the intensity of movements in the direction of increase or decrease and in time to give a signal to stop the forced movements, depending on the patient’s condition.

The invention is illustrated by drawings, where:
- FIG. 1 shows a functional block diagram of a device for implementing a method of muscle stimulation and restoration of motor functions;
- figure 2 is a block diagram of a device control;
- FIG. 3,4,5,6 - executive elements of the drive units for the head, trunk, arms and legs are shown;
- FIG. 7,8,9,10 - shows a bottom view of the base of the device (with a conditionally removed sealing cover) indicating the location of the channels for supplying and pumping air;
- FIG. 11,12,13,14,15,16 - shows a possible design of the drive legs and arms;
- Fig.17,18,19 - shows the drive unit of the fingers and toes.

 A device that implements a method of biomechanical muscle stimulation and restoration of motor functions, contains (Fig. 1) actuator actuators 1 that are in contact with the patient and drives parts of his body, sensors 2 of the physiological state of the patient, connected to one of the inputs of the switch 3 signals of sensors of the physiological state of a patient having two inputs and three outputs. The second input of the switch 3 is connected to the memory unit 4, which stores a priori information about the individual treatment-acceptable intervals for changing the parameters of the physiological state of the patient. One output of the switch 3 is connected to a computing unit 5 generating software laws of motion of the drive that implement physical therapy methods for the normal treatment mode, and the output of unit 5 is connected to the input of the adder 6. Sensors 7 of the parameters of the real laws of motion of the actuator actuators through actuators are connected to the device 8 drive controls. The second output of the switch 3 is connected to the computing unit 9, generating drive laws that are adaptable to the physiological state of the patient, which implement the enhanced training regime of physiotherapy exercises, fed to the input of the adder 10. The third output of the switch 3 is connected to the computing unit 11, generating the software laws for the emergency stop of the drive from due to the poor physiological condition of the patient. The outputs of the sensors 7 are connected to the switch 12 of the signals of the sensors of the real laws of motion of the actuator actuators having one input and two outputs: "satisfactory" - the drive continues to work on this signal, and "unsatisfactory" - the drive stops due to technical inconsistencies, deviations from the nominal values.

 Switches 3, 12, memory unit 4, adders 6, 10 and computational units 5, 9, 11 are combined into a single device — a processor that stores a priori information and processes the measured information to generate calculated information in accordance with functional criteria characterizing the patient’s condition and drive status.

 According to the proposed method, actuator actuators 1 implement the movement of the head, trunk, limbs and fingers of the limbs of the patient, on which sensors 2 of his physiological state are fixed. The signals from the sensors 2 are fed to the first input of the switch 3, the second input of which serves the reference signals from the memory unit 4, corresponding to the required program-methodology of physiotherapy exercises. The sensor signals and reference signals are compared in the switch 3, as a result of which one of the three output signals are generated, evaluated as “satisfactory”, “good” and “bad”, respectively.

 If the output signal of the switch 3 has a rating of “satisfactory”, then it is fed to the input of the computing unit 5, generating signals about the software laws of motion of the drive that implement physical therapy physiotherapy for the normal treatment regimen, which are fed to the non-inverting input of the adder 6, to the inverting input of which signals from sensors 7 of the actual laws of motion of the drive, and the output signals of the adder 6 are fed to the control device 8 of the drive.

 If the output signal of the switch 3 has a rating of “good”, then it is fed to the input of the computing unit 9, generating signals about the software laws of motion of the drive that implement the enhanced training regime of physiotherapy exercises, which are fed to the non-inverting input of the adder 10, to the inverting one the input of which gives the signals of the sensors 7 of the real laws of motion of the drive, and the output signals of the adder 5 are fed to the control device 8 of the drive.

 If the output signal of the switch 3 has a rating of "bad", then it is fed to the input of the computing unit 11, generating signals about the software laws of emergency stop of the drive, which are fed to the control device 8 of the drive to stop it. The emergency stop of the drive will be realized according to the signals of the sensors 7 of the real laws of motion of the drive if the real values of the angles or angular velocities or angular accelerations are such that the criterion-functional calculated in the switch 12 will have a rating of "unsatisfactory", as a result why its output signal will command to stop the drive for technical reasons.

 According to the proposed method, the patient is placed in a box (for example, in a device similar to an incubator box for a premature infant when the patient is a newborn), the patient is equipped with sensors 2 of his physiological state and actuators 1 of the drive are connected to it and the head, trunk, limbs and hands of the limbs in the starting position in accordance with the requirements of physiotherapy. They include drive control devices 8 that implement software laws of motion by the drive, generated either by block 5 or block 9 for cases where the patient's condition is assessed accordingly as either "satisfactory" or as "good." In the case when the patient's condition is assessed as "bad", block 11 generates signals about the software laws of emergency stop of the drive, which are fed to the control device 8, and the drive stops. The drive stops even when the signals of the sensors 7 of the real laws of motion of the drive will exceed the permissible values in the sense of a given functional criterion characterizing the state of the drive. Thus, the drive is stopped for two reasons: due to the poor physiological condition of the patient and due to possible technical malfunctions of the drive.

 Implementation of the proposed method involves the presence of three rooms: a rehabilitation chamber, an operator's room and a power room. In the rehabilitation ward there are boxes for patients with devices for the treatment and restoration of motor functions, a computer with monitors is located in the control room, all the necessary energy sources are taken out to the power room: power supplies, pneumatic supplies, etc. Each room needs its own staff: pediatrician , software engineer, technician. After the diagnosis of the disease, each patient collects all the necessary information and puts it into a computer, forming a data bank. Then the patients are placed in the boxes. Sensors of his physiological state and actuators are connected to each patient. Each patient in the rehabilitation ward is assigned a corresponding monitor in the operator’s room, although consistent viewing from one monitor with the optimal frequency is not ruled out. From each box, cables are connected from the sensors of the physiological state and from the sensors of the real laws of motion of the drive to the central processor (system unit of the computer). After turning on and loading the central processor, a start command is issued from the computer keyboard to the regime of physiotherapy exercises for a particular patient, the status of which is reflected on the corresponding monitor. Next, the process of treating patients begins by implementing an individual method of physical therapy in a rehabilitation ward, and in the camera room, an information processing process is conducted to manage and issue the necessary medical information, ending with the issuance of the necessary medical documentation.

According to the proposed method, the following principles must be used as the basis for creating the device implementing it:
1. The device should automatically implement the movement of the patient according to modern methods of physiotherapy.

 2. The peculiarity of muscle stimulation in a child is the lack of visual feedback from the doctor, which must be taken into account when creating the drive of this device.

 3. The device with prolonged use should not lead to damage to the elements of the skeleton, muscles and skin of the patient.

 4. The device should not have harmful side effects on the patient's condition and should not have a harmful effect on the environment.

These principles were laid down in the proposed method. To implement the principles formulated, the following requirements must be met:
1. The device should: 1) have a drive that implements the required nature of the spatial movement of the parts of the patient's body; 2) have a reliable system of protection against unwanted operating modes in case of failure of any control circuits or in case of mechanical structural damage, and at the same time not to injure the patient and not change the environmental parameters; 3) be universal in use: in the ward for full-term and in the box-incubator for premature babies; 4) satisfy specific medical requirements: sterility, etc .; 5) have such a block structure in which blocks and units that have a negative effect on the patient can be removed to a separate room; 6) have the minimum volumetric mass characteristics; 7) be oriented towards any one type of energy.

 2. The device should not change the parameters of the patient’s environment outside the acceptable range.

 3. Materials of constructions interacting with the patient’s body must be flexible to the extent necessary to compensate for inaccuracies in the initial setup and inaccuracies in the implementation of the laws of motion of body parts in the sense of relieving overstrain of joints, skeleton elements, muscles and tendons.

 The control device for biomechanical muscle stimulation and restoration of motor functions of the patient, which implements the proposed method, includes (Fig. 2) an electric power supply unit 13, a drive consisting of a control device 14, actuators 15 and sensors 16 of the real laws of motion, sensors 17 of the physiological state patient, processor 18. Remote 19 allows an adult patient to independently choose the modes of physiotherapy exercises.

 The design of the device that implements the proposed method (Figs. 3, 4, 5, 6) consists of a base 20, in which the drive units 21 and 22 of the head and body, and two sections 23 of the hand drive are mounted, respectively. There are also two blocks 24 of the drive of the hands and fingers, two sections 25 of the drive of the feet and two blocks 26 of the drive of the feet and toes. Two deployed sleeves 27 with inflatable shoulder drive elements and built-in sensors of the physiological state of the patient are fixed on the body drive unit 22. The head, trunk, arms and legs are fixed relative to the respective actuators using soft elastic tape clips 28 using Velcro. Part of the design of the device under consideration, including actuators 25 and 26, has the possibility of horizontal movement in the direction of the body along the guides 33, while the flexible corrugated tube 29 provides a tight connection of parts of the pneumatic system. At the level of the lower body of the patient is a set of 30 interchangeable hygiene items, including a mattress, oilcloth, bedding, diaper and diaper with an embedded moisture sensor. Elements 31 of the head and trunk drive units are individually controllable inflatable structures, shown in more detail in FIGS. 7, 8, 9, 10. Four groups of sensors 32 installed on the base 20 near the drives 23 and 25 of the arms and legs allow real laws of movement to be controlled drives. On the basis of 20 there are fittings 34 for connection with a pneumatic system. On the sleeves 27 installed inflatable elements 35 drive the shoulder.

 Bottom of the base 20 (Fig.7) there are milled curly divided channels 36 and 37, respectively, of low and excess pressure. Of these channels, each executive inflatable element is individually controlled by a pair of electro-pneumatic valves, one of which (position 38 in FIG. 8) controls the supply of overpressure, and the second (position 39 in FIG. 8) controls the pumping or bleeding of air. Electropneumatic valves are screwed into the base 20 of the housing using a sealed gasket. The sealing cover 40 isolates the channels 36 and 37 from the atmosphere. The shaped stop-distributor 41 ensures the distribution of air inside the inflatable element-cap 42 and ensures its operation. Inflatable elements-caps 42 may have several corrugations (Fig.9), which will provide a greater stroke of the working surface if necessary. The retaining ring 43 (figure 10) secures the inflatable element 42 on the base 20. The figured grill 44, filling the gaps between the inflatable elements, provides a general alignment of the surface using the bedding 45. Electropneumatic valves are located in sections 46 in an amount that ensures the effective operation of the hand drives. The fittings 47 (Fig.7) are intended for connection with the drive units of the hands and fingers. The elements 31 (Fig. 4) of the drive units for head and body movements, individually controlled, are arranged in mutually perpendicular (horizontal) rows, denoted by the letters a, b, d, e and the numbers 1, 2, 3, 4, ... etc. (Fig.7) depending on the length of the patient’s body. Individual control of the elements 31 allows you to get many options for the implementation of movements or massage. In particular, by controlling the simultaneous operation of elements in rows, it is possible to obtain longitudinal or transverse wave massaging effects, as well as wave motions oriented at different angles, sequentially or counterclockwise. In addition, a variant of the random element control law is possible with the aim of effective and diverse modes of body massage. The management of elements in sections, rows and blocks allows you to realize the movement of the body and head in the required manner. So, for example, inflating elements with coordinates a1, a2, a3; b1, b2, b3; g4, g5, g6; . . ., d4, d5, d6; ... allows you to get relative rotations of the head and body around the longitudinal axis of the body, etc. The device allows you to call the head from side to side, tilting the head back and forth. Similar movements can be caused in the body. The use of the device (figure 3) suggests the presence of a leveling and heat-insulating mat and hygienic bedding.

 Since the design of the drives (Fig. 3) of the head, trunk, arms and legs is made in the form of inflatable deformable, with the corresponding stiffness of elements, sections, blocks, taking this into account can satisfy one of the basic requirements of the mechanical safety of the operation of the device: the drives are flexible in to such an extent that ensures patient safety.

 A possible design of the drive legs (11,12, 13) and hands (Fig. 14,15,16) is a corrugated (accordion type) inflatable airtight pusher 48 with a lodgement 49 fixed on it, having a shape convenient for securing the limb . To control the real laws of motion of the drive on the lodgement 49, a leash 50 is attached to which a flexible thread of the measuring device is attached. Such a foot drive is more stable around an axis parallel to the legs, and less stable around it perpendicular to the horizontal axis (Δ2> Δ1), which is required for normal operation of the drive without injuring the legs, while the final rigidity of the drive at the stage of filling with air will carry out "tension "legs, and at the stage of evacuation of air, a natural movement of the legs is carried out, allowed by the foot together with the drive. And the design of the arm drive is equally rigid (Δ2 = Δ1), which allows you to realize the natural spatial movements of the hands.

 Actuator actuators for actuating the fingers (Fig. 17) are a semi-glove 51, each file of which is internally made of elastic material, and on the outside has a chamber 52 to which the tube 53 is connected from the valve block 54 (Fig. 18).

 The valve block (Fig. 18) of the limb finger drive is a housing 55 with a cover 56 and five pairs of cylindrical threaded holes in the housing, into each pair of which an inlet valve 57 and an outlet valve 58 are screwed. These valves are tightly sealed through sleeves 59 and tubes 60 connected to compressor and vacuum pump. Sleeves 59 are tightly mounted on the cover 56, on which tubes 60 are sealed, which are sealed at the other ends with the semi-glove chambers. An electric wire 61 is connected to each valve to supply control pulses from the processor.

 In the pre-inflated condition of the semi-glove’s filers 51 (Fig. 17) they are put on each finger of the patient’s hand (feet), then control pulses are fed to the valves 54 (Fig. 18) to pump air out of the filers, as a result the fingers (legs) are compressed under the action of elastic forces. When applying electrical control pulses from the processor to the valves 57 (Fig. 19), air is pumped into the chambers 52 (Fig. 17) and the fingers are unbent. When applying electrical control pulses from the processor to the valves 58 (Fig. 19), air is pumped out from the chambers 52 (Fig. 17) and the fingers are bent. In this case, by changing the frequency of the pulse supply, a change in the speed of extension and flexion of the fingers will be realized. The described device allows each finger (legs) to be moved separately from each other with different movements, and all together: clenching into a fist (bending to the foot) and extension into a straight palm (straight foot). That is, any desired driving mode can be implemented, information about which is stored in the processor memory block.

 As sensors of the physiological state of the child, sensors of temperature, pulse (heart rate), blood pressure, humidity with a digital output can be used, such as, for example, that are part of the physiological function monitoring system / 3 / or a clinical incubator - incubator / 4/.

 As sensors of the real laws of motion of the drive can be used, in particular, inductive sensors of angles and linear displacements / 5 /.

 As sources of pneumatic power: a) a piston compressor / 7 / can be used to pump air into the pneumatic system; b) a vacuum pump / 8 / can be used to pump air from the pneumatic system. If these devices are sufficiently noisy, then they can be combined into a unit and taken out of the premises in which the patient is located.

 As electro-pneumatic valves, devices / 9 / can be used.

 As a processor in which a priori information is stored and measured information is processed in order to generate calculated information for supplying control pulses to electro-pneumatic valves and for supplying other necessary signals, the system unit of a universal computer type IBM PC 486DX with at least 4 RAM can be used mb, with a Winchester memory capacity of at least 250 mb and a clock frequency of at least 40 MHz / 6 /, allowing docking with a sensor system using an analog-to-digital converter provided with reinforcing output unit connected to the system or micro EPA PC, for example from Ohtagon System / 10 /.

 As a power source, a conventional electrical network with a voltage of 220 V and a frequency of 50 Hz can be used. For example, the power consumed by the proposed device when servicing several children of one year old (up to ten) will not exceed 5 kW.

 The operation of the device for biomechanical muscle stimulation, restoration of motor functions and training the correct movements of a person begins with the power supply to the processor 18 (figure 2), physiological state sensors 17, sensors 16 of the actual laws of movement of the drive, the drive control device 14 and the supply of pneumatic power to the executive drive device 15, after which operation monitoring is carried out - testing of all necessary system elements. Then they lay the patient on the base of the device, fix the head and body with clamps, fix the sleeves with the sensors of physiological state on the hands, put the wrists and legs in soft pliable lodges of the drive pushers and fix them with elastic fabric tape (with Velcro), on the fingers hands and feet wear semi-gloves, previously prepared for putting on by a small pumping of air into the files. After that, the command signal is sent to the processor to implement the required operating mode of the device and the processor starts to generate signals containing information about the programmed movements of the patient’s body parts, which, through the control devices 14, implemented by the system of electro-pneumatic valves, actuate actuators 15, i.e., a predetermined program, they let air into the elements, sections and blocks of drives of the head, trunk, arms, legs, fingers and toes and release air from these elements. In that case, if the signals of the sensors 17 of the physiological state exceed the specified permissible values, then the actuators 15 go into a more sparing mode, right up to the program shutdown of the proposed device. And in the event that the signals of the sensors 16 of the actual laws of motion of the drive exceed the specified permissible values, then the program shutdown of the proposed device is also carried out, but for technical reasons.

 A patient who is able to make decisions on changing the regimen of physiotherapy exercises on his own or using the measured information and in accordance with his well-being, enters information about changes in the operating modes of the device from his remote control "at hand" 19 (Fig. 2).

 Thus, the proposed method and device can highly replace and significantly exceed the capabilities of qualified medical staff, since: 1) there is objective information about the physiological state of the patient, used to select the operating modes of the devices; 2) each of the devices allows you to implement up to 60 or more independent movements, which is impossible to implement for several health workers at the same time, and even more so for one doctor; 3) one operator is able to service several (up to ten) units with patients, united by a central processor.

 The proposed method and device can be widely used for the treatment of a large class of impaired motor functions, not excluding disorders caused by physical injuries, as applied to a patient of any age. Moreover, the devices used can be divided into several sizes and capacities and differ from each other in the latter. That is, the pushing efforts and sizes of the inflatable elements for an adult should be proportionally large compared with those for a child. For example, inflatable elements (pos. 31 in Fig. 4) it is advisable to increase by 1.5-2 times, the course of sections (pos. 25 in Fig. 3 and pos. 23 in Fig. 5) should provide movement of limb elements more than 5 -10 times compared with those for a one-year-old child.

Sources of information
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Claims (2)

 1. A method of biomechanical muscle stimulation and restoration of motor functions of patients with cerebral palsy, in which the patient’s head, trunk, limbs and fingers are set to the initial position and exercise therapy is performed, setting the forced movements of these body parts, characterized in that the patient is individually determined the maximum permissible values of the parameters of the physiological state: heart rate, respiratory rate, blood pressure, body temperature, then one Along with the forced movements, they measure these parameters characterizing the physiological state of the patient during stimulation, determine the differences between the measured values and the corresponding permissible values, analyze these differences and, based on their analysis, generate control signals for the movements of body parts and realize these movements in the direction of increasing intensity movements or in the direction of its weakening, while the control signals for the movements of body parts are calculated according to the functional, depending mu from deviations of motion parameters from their program values and from time derivatives from these deviations.  2. A device for biomechanical muscle stimulation and restoration of motor functions in patients with cerebral palsy, which contains a drive with actuators installed on the base, connected to a drive control device, devices for attaching parts of the body, a processor, an electric power supply connected to the drive through sensors of real laws of motion, characterized in that it is equipped with physiological state sensors, actuator actuators are made in the form of blocks, which are inflatable chambers located on the base for positioning a patient on them, connected by an electro-pneumatic valve system with an electro-pneumatic power supply interconnected with actuator actuators and a drive control device, as well as with sensors of real laws of motion and physiological state, while all the sensors are connected to the processor input, the output of which is connected to the drive control device.

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