TR2021021819A2 - REMOTE ACCESS, PORTABLE, THREE DEGREES OF FREEDOM WRIST REHABILITATION DEVICE - Google Patents

Abstract

Invention, forearm ? It is about a three-degree-of-freedom and robot-assisted rehabilitation device used in the physical therapy and rehabilitation processes of individuals with physical limitations in the wrist area.

Description

DESCRIPTION REMOTE ACCESSIBLE, PORTABLE, THREE DEGREES OF FREEDOM WRIST REHABILITATION DEVICE Technical Field The invention relates to a three degree of freedom and robot-assisted rehabilitation device used in the physical therapy and rehabilitation processes of individuals with physical limitations in the forearm - wrist area. Prior Art In the last 20 years, various studies have been conducted on the use of robotic systems in the field of physical therapy and rehabilitation. The studies can be basically divided into two groups: upper extremity and lower extremity. In upper extremity group studies, rehabilitation devices that cover the entire arm can be made, as well as rehabilitation devices that can work on one or more areas such as the shoulder, elbow, wrist and hand. The human arm has the ability to move in 3 axes in the shoulder area, 2 in the elbow area, 2 in the wrist area, and more than 20 axes in the hand area, including the fingers. In rehabilitation robot studies, the hand is considered as a separate part due to its complex joint functions. Robot designs that can work in the shoulder, elbow and wrist areas require a very challenging design and testing process due to the many axes movements they involve. Limb sizes that vary from patient to patient are another difficulty point. Therefore, the production of these systems causes high costs. Many of the studies developed have a very low rate of reaching patients as products in physical therapy centers. For this reason, traditional treatment methods continue to be widely used today. The benefits of robot-assisted rehabilitation have been proven many times in research and development studies. The low rate of use in physical therapy centers is an indication that robot-assisted rehabilitation devices (rehabilitation robots) have many areas open to development. When we examine the existing studies in the technique, it is seen that some of them have movement properties in only one or two joints. In the state-of-the-art Chinese patent document numbered CN106361539A, a three-degree-of-freedom wrist rehabilitation robot is mentioned. The relevant patent document includes many mechanical elements such as motors, sensors, fixed base and hand rest. In the patent document, a robotic wrist rehabilitation device is mentioned. In the patent document in question, it is mentioned that a robotic wrist rehabilitation device may have 3 or more degrees of freedom. In the relevant document, the sensors, mechanical parts and control of the device are also mentioned. In the Chinese patent document numbered CN211729161U, which is in the state of the art, a lightweight wearable bionic double-arm exoskeleton system is mentioned. In the patent document in question, it is mentioned that remote operation technology such as remote diagnosis and treatment, remote movement and force feedback is used or can be used. In the Chinese patent document numbered CN110339021A, which is in the state of the art, a wrist robot rehabilitation device with three degrees of freedom is mentioned. In the relevant patent document, it is mentioned that it is small in size, can be used for rehabilitation training at home, and can be used by connecting to a desktop computer. When the existing studies in the technique are examined, there is a need to develop a rehabilitation device that allows force measurement in three axes, is portable, low-cost and has remote access feature to provide rehabilitation at home, and can transfer patient records to the main computer in the physical therapy center via the internet connection with the GSM communication card inside. has been heard. Purposes of the Invention The purpose of this invention is to realize a rehabilitation device that allows force measurement in three axes. Another aim of this invention is to realize a portable, low-cost rehabilitation device. Another purpose of this invention is to realize a rehabilitation device that has a remote access feature in order to provide rehabilitation at home and can transfer patient records to the main computer in the physical therapy center via the internet connection with the GSM communication card inside. Detailed Description of the Invention A robot-assisted rehabilitation device with three degrees of freedom, designed to achieve the objectives of this invention, is shown in the attached figures. These shapes; Figure 1 - is the outer casing view of the rehabilitation device that is the subject of the invention. Figure 2 - is the front view of the rehabilitation device that is the subject of the invention. Figure 3 - is the side view of the rehabilitation device that is the subject of the invention. Figure 4 - is a different side view of the rehabilitation device that is the subject of the invention. Figure 5 - The movement axes of the rehabilitation device that is the subject of the invention are integrated. Figure 6 - The perspective view from a different angle, where the movement axes of the rehabilitation device that is the subject of the invention are integrated. Figure 7 - is the exploded perspective view of the movement axes of the rehabilitation device that is the subject of the invention. Figure 8 - is the perspective view of the fixed plane of the rehabilitation device that is the subject of the invention. Figure 9 - is the perspective view of the fixed plane of the rehabilitation device of the invention from a different angle. Figure 10 - is the pronation and 7 supination axis set view of the rehabilitation device subject to the invention. Figure 11 - is the radial motion - ulnar motion axis set view of the rehabilitation device subject to the invention. Figure 12 - is the flexion and extension axis set view of the rehabilitation device subject to the invention. Figure 13 - is the view of the force detection unit in the rehabilitation device of the invention. The parts in the figures are numbered one by one, and the equivalents of these numbers are given below. 1. Outer casing 2. Handle 3. Device control screen Screen connection input Electronic control panel Emergency stop button System operation indicator LEDs Start-stop buttons On-off switch. Correct tension input Fixed platform Pronation - supination axis set Radial - ulnar motion axis set Flexion - extension axis set Arm placement slot Handling - grip bar. Security control card GS M communication card Main control card Motor driver card Micro computer card Pronation - supination axis motion motor Pronation - supination axis power transmission mechanism Pronation - supination axis position measurement encoder Pronation and supination axis non-contact nerve sensors Pronation 7 supination axis hard stop sets Radial 7 ulnar motion axis motion motor Radial e ulnar motion axis power transmission mechanism Radial - ulnar motion axis position measurement encoder Radial - ulnar motion axis non-contact nerve sensors Radial - ulnar motion axis rigid stop feet Flexion - extension axis motion motor Flexion 7 extension axis power transfer mechanism Flexion - extension axis position measurement encoder Flexion - extension axis non-contact nerve sensors Flexion - extension axis non-contact nerve detection feet Passive axis linear guide module Force detection unit Force detection unit electronic control card Force detection unit bottom-top mounting mounting plates Force detection unit X-Y axis load cells Force detection unit Z axis load cells Force detection unit Lower-upper mounting parts of X-Y axis load cells X. Handle located on the casing (1) that allows the device to be carried. Located on the outer casing (1) and providing information such as the operating mode of the device, joint positions, patient force, motor power, etc. Device control screen (3), which allows display of data, Display connection input (4), which is located on the outer case (1) and allows the user interface software to be displayed, Outer case (1), which is located on the outer case (1) and contains the electronic cards. Emergency stop button (6) located on the outer casing (1), System operation indicator LEDs (7) located on the outer casing (1) that show the system operating status, Start-stop buttons (8) located on the outer casing (1) that enable the system to be stopped. , On-off switch (9) located on the outer casing (1) and enabling the electrical connection to be activated, Direct voltage input (10) located on the outer casing (1) and feeding the power of the entire system, Inside the electronic control panel (5) Security control card (17) located in the electronic control panel (5) and managing communication with the treatment center and data transfer for simultaneous operation. GSM communication card (18) located in the electronic control panel (5). Main control card (19), which is located in the fixed platform (11) and manages the positions and speeds of the three movement joints, as well as the force values applied by the patient. Motor driver card (20), which is located in the fixed platform (11) and transfers the appropriate powers to the motors of the three movement joints. Fixed platform ( Pronation-supination axis motion motor (22), which is fixed inside the l 1) and provides pronation-supination axis movement, pronation-supination axis position measurement encoder (24) which measures the position of the pronation-supination axis movement in connection with the pronation-supination axis motion motor (22). , pronation-supination axis non-contact detection sensors (25) that monitor the pronation-supination axis movement nerve safety in connection with the pronation-supination axis motion engine (22), and are placed on the pronation-supination axis set (12) and provide radial-ulnar precession axis movement. radial - ulnar precession axis motion motor (27), radial - ulnar precession axis position measurement encoder (29), which measures the position of the radial - ulnar precession axis motion in connection with the radial - ulnar precession axis motion motor (27), radial I ulnar precession axis position measurement Radial - ulnar motion axis non-contact detection sensors (30), which monitor the radial - ulnar motion axis movement nerve safety in connection with the encoder (29), are placed on the radial - ulnar motion axis set (13) and provide flexion - extension axis movement. - Flexion - extension non-contact detection sensors (35) that monitor the nerve safety of extension axis movement, Passive axis linear guide module (37) placed on the flexion - extension axis set (14), Force mounted on the linear guide module (37) that allows detection of the patient's force sensing unit (38), force sensing unit that collects data from the sensors in the force sensing unit (38) and transmits it to the main control card (19), electronic control, which enables the force sensing unit (3 8) to be mounted on the passive axis linear guide module (3 7). force sensing unit lower-upper mounting plates (40), force sensing unit X-Y axis load cells (41) located inside the force sensing unit (38) and allowing the detection of X-Y axes force, Z axis Z axis load cells (42), the force detection unit that enables the detection of force. The force detection unit, which is located in the force detection unit (38) and provides the connections of the -Contains upper mounting parts (43). The device of the invention contains an arm placement slot (15) where the patient's arm is placed, which can be mounted on the fixed platform (11) in a detachable and removable manner. Mechanical structure of the rehabilitation device of the invention; outer case (1), fixed platform (11), pronation - supination (PS) axis set (12), radial - ulnar precession (RU) axis set (13), flexion 4 extension (FE) axis set (14), patient The handle consists of a placement slot (15) and a handle-grip bar (16). Pronation 7 supination (PS), radial precession - ulnar precession (RU) and flexion - extension (FE) axis movements overlap on the same point. For this reason, an interlocking mechanical structure has been created. The handle bar (16), through which interaction with the patient is provided, is connected to the flexion 4 extension (FE) axis set (14), the flexion 4 extension (FE) axis set (14) is connected to the radial - ulnar motion (RU) axis set (13), radial - ulnar The precession (RU) axis set (13) is connected to the pronation - supination (PS) axis set (12) and the pronation - supination (PS) axis set (12) is connected to the fixed platform (11). The external dimensions of the rehabilitation device of the invention are 40 cm x 40 cm x 50 cm and it has a bag structure. The outer casing of the device (1) is created using aluminum profile and sheet material. It is 40 cm long. It has a handle (2) on it. There is an electronic control panel (5) on the front. On the electronic control panel (5), 4 inch device control screen (3), interface screen connection input (4), emergency stop button (6), system operation indicator leds (7), device start-stop button (8). , system energy on-off switch (9) and 24V direct voltage input (10). It is made of profile material. The back case has a 3D printed protection with dimensions of 18 cm in width and 36 cm in height. 24V direct current PS axis movement motor (22), which moves the pronation and supination (PS) axis on the fixed platform (11), pronation - supination (PS) axis power transfer mechanism (23) (belt - pulley and tensioner apparatus), pronation - There is a supination (PS) axis position measurement encoder (24), pronation - supination (PS) axis non-contact nerve sensors (25), pronation - supination (PS) axis hard stop sets (26). The patient arm placement slot (15) has a modular structure and can be mounted practically on the aluminum Sigma profile located at the back of the fixed platform (11) after the device case is opened. In addition, there is a security control card (17), main control card (19), direct current motor driver card (20) and microcomputer card (21) within the electronic control panel (5). Pronation I supination (PS) axis set (12) consists of 3 parallel arms cut from metal sheet and a metal sheet plate connecting them in the form of a 3-armed star on one side and in the form of a half arc on the other side. The pronation - supination (PS) axis set (12) performs the pronation - supination movement with the movement it receives from the pronation - supination (PS) axis movement motor (22) connected to the fixed platform (11). On the pronation - supination (PS) axis set (12), there is a 24V direct current radial - ulnar precession axis movement motor (27) that moves the radial - ulnar precession (RU) axis. The motion produced by the radial 7 ulnar motion axis motion motor (27) is transferred to the axis by turning 90 degrees through the radial - ulnar motion axis power transfer mechanism (28) consisting of a bevel gearbox structure. The preferred power transmission structure prevents the radial - ulnar motion axis movement motor (27) from protruding out of the device casing, thus ensuring that the casing dimensions are smaller. Directly opposite the radial - ulnar motion axis motion motor (27), there is the radial 7 ulnar motion axis position measurement encoder (29) placed directly on the axis. There are radial 7 ulnar motion axis non-contact nerve sensors (30) on the edges of the radial 7 ulnar motion axis position measurement encoder (29) to detect the axis boundaries. It consists of a radial - ulnar rotation (RU) axis set (13), 2 laser-cut metal sheet materials, and a 3D printer-produced swing-structure axis chassis. The axis chassis is supported with sheet metal material on its lower edge and side arms. Additionally, there are metal feet for radial precession - ulnar precession (RU) axis hard stop feet (31) and non-contact nerve sensors. Along with these, flexion - extension (FE) axis motion motor (32), flexion - extension (FE) axis power transmission mechanism (33) consisting of belt-pulley and tensioner mechanism, flexion - extension (FE) axis position measurement encoder (34) and There are non-contact nerve sensors (35) for the flexion - extension (FE) axis. Flexion I extension (FE) axis set (14), plane of laser cut metal sheet, flexion 7 extension (FE), linear guide module consisting of carriage and rail (37), flexion 7 extension (FE) axis non-contact border detection feet (36) ), the force detection unit (38) and the force detection unit consists of the electronic control card (39). Axis shifts in the range of 5-10 mm are observed in the wrist axes, especially in radial - ulnar rotation (RU) and flexion - extension (FE) joint movements. To overcome this situation, a passive axis is created with a linear guide module (37) under the handle-grip bar (16), as is widely used in the literature. The handle-grip bar (16) was produced with a 3D printer, taking into account the anatomical structure of the human hand, and inclined at 11 degrees according to the radial - ulnar precession (RU) movement plane. The force detection unit (38) has a modular structure. It was created using single load cells, which are widely used today. For this, 6 load cells are connected to each other with lower and upper connection parts as shown in Figure 13. 4 vertically placed 500 g They are fixed to each other with connection parts (43) at the ends. Two 750 g Z axis load cells (42) are placed on the upper part of the connection parts (43) and on the upper part of the Z axis load cells (42) for Z axis force measurement. The mounting plates (40) are fixed. As can be seen, the force detection unit (38) has a mechanism that allows 3-axis force measurement. The designed force detection unit (38) has force detection limits of Fx = 40 N, Fy = 20 N, FZ = 15 N. It has a much lower cost than the ready-made three-axis force sensors. The designed force sensor is managed by the sensor control card designed with dimensions of 40 mm x 30 mm. The components of the mechanical system that constitute the wrist rehabilitation device are produced by metal sheet cutting. In addition, there are three-dimensional printer production support parts. CNC (Computer Numerical Control) production has not been preferred in the production of components included in the mechanical design due to high production costs. A microcontroller with a 32 bit 200 Mhz core structure was preferred on the wrist rehabilitation device main control card (19). There is a device management screen (3) on the main control card (19). The main control card (19) has a GSM communication card (18) that will provide remote communication. The main control card (19) uses the data received from the PS axis position measurement encoder (24), RU axis position measurement encoder (29), FE axis position measurement encoder (34) and force detection unit (38) via the motor driver card (20). It moves the PS axis motion motor (22), RU axis motion motor (27) and FE axis motion motor (32) under a closed loop. The security control card (17) is designed independently from the main control card (19). The main control card (19) controls the joint position and speed limit values via software. By measuring the actuator currents, the power is cut off in case of abnormal current. PS axis non-contact nerve sensors (26), RU axis non-contact nerve sensors (30) and FE axis non-contact nerve sensors (35) placed at the joint nerve points are connected to the safety control card (17). When it reaches the limit point, the power is automatically cut off. Additionally, there are mechanical stopping points right after the electronic limits. Apart from this, in case of emergency, there is an emergency stop button (6) near the patient, also managed by the security control unit. System energy management is provided by the security control card (17). In this way, the safety and comfort of the patient is prioritized and the aim is to prevent damage to the device. The microcomputer card (21) runs the software that manages the patient-robot interaction. The use of desktop computers is common in current studies. In particular, the microcomputer card (21) with an open source operating system was chosen. Additionally, patient interface software was prepared using the open source object-oriented programming language "processing". The most important reason for choosing open source software is to prevent the licensing costs for the operating system and compiler from becoming a burden on the total cost of the system. Load cell outputs are connected to the load cell amplifiers on the sensor control card. The values received from these amplifiers with 24 bit resolution are filtered by the microcontroller with a special filter and transferred to the main control card (19) via serial communication bus. The force detection unit electronic control card (39) has a 9-axis orientation sensor in addition to the measurement of 6 load cells. The force sensor placed under the grip rod (16), the PS axis position measurement encoder (24), the RU axis position measurement encoder (29), the FE axis position measurement encoder (34) independently provide confirmatory information about the angular status of the rod. The angular position value of each joint is measured with the PS axis position measurement encoder (24), the R U axis position measurement encoder (29), and the FE axis position measurement encoder (34) located directly on the axis, instead of the encoders connected to the back of the motors. Position measurement with encoders connected to the back of the motor is widely used in the literature. However, due to gear clearances, the most accurate method to determine the actual position information is to measure directly on the axis. The device of the invention has the structure of a portable bag. Total weight is planned to be under 15kg. It has a special force detection mechanism that enables force measurement in three axes in the wrist joint region, which can perform forearm pronation, supination, wrist radial precession - ulnar precession, wrist flexion and extension movements and enables interaction with the patient. The force sensing unit (38) was obtained by assembling the low-cost load cells used today individually to enable 3-axis measurement. Direct current electric motors will be used as actuators. Open loop controlled drivers are preferred instead of ready-made torque controlled drivers in driving direct current motors. Angular position information received from open loop controlled drivers and encoder is controlled by the high performance main control processor. It is another important factor that reduces costs. The rehabilitation robot safety structure is managed by a separate microcontroller. In current studies, the security structure is located within the main control unit. In this invention, the security structure has a layered structure including software, electronic and mechanical. The security system consists of sub-steps, including control of position and speed limit values, control of actuators against high current, force detection limit value control, electronic control of inductive sensors at the axis boundaries, mechanical (hard stop) limitation of axis movements and use of an emergency stop button (6). is occurring. It has a remote access feature to provide rehabilitation at home. With the GSM communication card (18) inside, it will be able to transfer patient records to the main computer in the physical therapy center via internet connection. TR TR

Claims (2)

STEMS 1. The invention relates to a robot-assisted rehabilitation device with three degrees of freedom. The pronation-supination axis movement is connected to the pronation-supination axis movement motor (22), which is fixed in the fixed platform (11) and provides the pronation-supination axis movement. pronation-supination axis position measurement encoder (24) that measures the position of the movement, pronation-supination axis non-contact detection sensors (25) that monitor the pronation-supination axis movement nerve safety in connection with the pronation-supination axis movement engine (22), pronation-supination axis set The radial - ulnar precession axis motion engine (27), which is placed on (12) and provides the radial - ulnar precession axis movement, measures the position of the radial 7 ulnar precession axis motion in connection with the radial 7 ulnar precession axis motion engine (27). measurement encoder (29), radial 7 ulnar precession axis non-contact detection sensors (30) that monitor the radial - ulnar precession axis movement limit safety in connection with the radial - ulnar precession axis position measurement encoder (29), radial - ulnar precession axis set (13) Flexion-extension axis movement motor (32), which is placed on the flexion-extension axis movement and provides flexion-extension axis movement, flexion-extension axis position measurement encoder (34), which measures the position of the flexion-extension axis movement in connection with the flexion-extension axis movement motor (32), - Flexion - extension non-contact detection sensors (35) that monitor the flexion - extension axis movement limit safety in connection with the flexion - extension axis position measurement encoder (34), - Passive axis linear guide module (3 7) placed on the flexion - extension axis set (14) ), - Force detection unit (38) mounted on the linear slide module (37) and allowing the patient's force to be detected, - Force detection unit X-Y axis load cells (41) located within the force detection unit (38) and allowing the detection of the X-Y axes force - The force sensing unit, which is located within the force sensing unit (38) and enables the detection of the Z axis force, is characterized by containing Z axis load cells (42) parts. 2. The invention relates to a rehabilitation device as in claim 1 and is characterized by containing a handle (2) located on the outer casing (1) that allows the device to be carried. . The invention is related to a rehabilitation device as in claim 1 or 2, and is characterized by containing a device control screen (3) located on the outer casing (ll) that allows displaying data such as the device's operating mode, joint positions, patient force, motor power, etc. . . The invention relates to a rehabilitation device as in any of the above claims and is characterized by containing a screen connection input (4) located on the outer casing (1) and allowing the user interface software to be displayed. . The invention is related to a rehabilitation device as in any of the above claims. It is related to the device and is characterized by containing an electronic control panel (5) located on the outer casing (II) and containing electronic cards. The invention is related to a rehabilitation device as in any of the above claims and is characterized by the emergency system located on the outer casing (II). It is characterized by containing a stop button (6).The invention is related to a rehabilitation device as in any of the above claims and is characterized by containing system operation indicator LEDs (7) located on the outer casing (1) showing the system operating status. The invention relates to a rehabilitation device as in any of the above claims and is characterized by containing start-stop buttons (8) located on the outer casing (1) that enable the system to be stopped. The invention relates to a rehabilitation device as in any of the above claims. It is characterized by containing an on-off switch (9) located on the outer casing (l) and enabling the electrical connection to be activated. The invention is related to a rehabilitation device as in any of the above claims, and is located on the outer casing (l) and provides the power of the entire system. The invention is characterized by containing a correct voltage input (10) that feeds the device. The invention relates to a rehabilitation Device as in any of the above claims and is characterized by containing a security control card (17) located within the electronic control panel (5) and managing patient and Device safety. The invention relates to a rehabilitation device as in any of the above claims and is characterized by containing a GSM communication card (18) located within the electronic control panel (5) and managing communication with the treatment center and data transfer for simultaneous operation. The invention relates to a rehabilitation device as in any of the above claims and is characterized by containing a main control card (19) located within the electronic control panel (5) that manages the positions and speeds of the three 10 movement joints as well as the force values applied by the patient. The invention is one of the above claims. The invention relates to a rehabilitation device as in any of the above claims and is characterized by containing a motor driver card (20) located in the fixed platform (11] and transferring appropriate powers to the three movement joint motors. The invention relates to a rehabilitation device as in any of the above claims, The force detection unit is characterized by containing an electronic control card (39) that collects data from the sensors in the force detection unit (38) and transmits it to the main control card (19). The invention is related to a rehabilitation device as in any of the above claims, and the force detection unit ( 38) The force sensing unit, which enables its mounting on the passive axis linear guide module (3-7), is characterized by containing upper and lower mounting plates (40). The invention is related to a rehabilitation device as in any of the above claims, and the force sensing unit located in the force sensing unit (38) and providing the connections of the X-Y axis load cells (41) and Z axis load cells (42) with each other is located under the It is characterized by containing upper mounting parts (43).