TWI509556B - Goal - oriented Rehabilitation Auxiliary System and Its Work Setting Method - Google Patents

Description

Target-oriented rehabilitation auxiliary system and its working setting method

The invention relates to a target-oriented rehabilitation auxiliary system and a work setting method thereof, in particular to a rehabilitation target-oriented context interaction system architecture, target guidance action capture and tracing, action parameterization comparison algorithm and its care The application of the end refers specifically to the system architecture and method for improving the effectiveness of self-rehabilitation, not only by providing functional quantitative indicators, but also by actively guiding the correct rehabilitation procedures through the system.

Brain stroke is one of the common diseases in Chinese. Today, Taiwan has become an aging society, and an average of four people per 100 people in the elderly have a stroke. The dysfunctions include stagnation, inflexibility, and memory loss. Sexual cognitive impairment, the follow-up rehabilitation treatment that it faces, is not only the patient's own attitude and long-term recovery, but also brings a huge burden to the family. According to statistics, 69% to 80% of stroke patients have symptoms such as upper limb muscle weakness, abnormal muscle tone, and uncoordinated movements. After three months of illness, only 20% of patients can return to normal upper limb function. However, clinical data show that stroke patients can improve their quality of life through rehabilitation. The post-stroke rehabilitation time course can be divided into three periods: acute phase→subacute phase→chronic phase; the subacute phase is about the third week from stroke, and it is also an active rehabilitation period. At this time, the disease control is stable, and the patient can Under the guidance of the rehabilitation staff, the active rehabilitation exercise is started, and the patient can go to the rehabilitation department for further functional training under the condition of the condition, focusing on the induction of the action.

Nowadays, there are many hospitals with rehabilitation equipment, but they cannot meet the needs of many patients, and often make patients unable to continue to receive rehabilitation smoothly. Rehabilitationists are also often unable to treat patients one-on-one, making it difficult to track the progress of rehabilitation. With the advancement of technology, although the rehabilitation of the patient is replaced by a robotic arm or other large instruments, it is often limited by the use space, and the cold instrument makes the patient's willingness to use less. Traditional rehabilitation therapy needs to be carried out for a long time. The process is arduous and tedious. It is also easy to reduce the patient's willingness to rehabilitate. The reciprocating health teacher uses the subjective observation of the individual to evaluate the patient's rehabilitation situation to complete the scale. There is no objective evaluation. Quantity method.

Analysis of the current Republic of China patents, most of the relevant inventions focus on the development of rehabilitation equipment for mechanical and institutional linkages, but the main function is still to provide kinetic parameter measurement; some inventions combine virtual reality or games. Simulating the test situation, the reconnecting device generates a feedback action, wherein the kinematic parameters of the limb movement are recorded mainly by image recognition, and the torque is measured by a combination of the mechanism entities. For example, the Republic of China Patent Certificate No. I377055 discloses an interactive limb movement guiding method and an interactive limb movement rehabilitation system and a computer readable storage medium, but the previous case does not disclose the calculation of the physical sensor and processing parameters. The law and its association with rehabilitation function; another Republic of China Patent Publication No. 200942221, which discloses a rehabilitation system and its working setting and control method, but the former case mainly measures the main and passive linkage of the robot arm. The change of the force applied does not reveal the algorithm of its processing parameters and its association with the rehabilitation function; another US Patent No. US8306635B2, the rehabilitation device refers to the Virtual Reality device. However, there is no action parametric similarity comparison analysis and rehabilitation treatment records provided for the care end application. Therefore, the related prior art does not propose how to combine rehabilitation practice, rehabilitation treatment setting and action evaluation, especially proper body positioning and compensatory limb movement. The detection and the goal of meeting the functional requirements of daily life guide the rehabilitation work setting.

In recent years, due to the advancement of micro-electromechanical processes, the application of miniaturized accelerometers has flourished, most of which are applied to the calculation of moving paths and motion trajectories. There are no considerations for rehabilitation treatment evaluation indicators and related action rehabilitation characteristics. And from the above-mentioned related patents, the main focus is on mechanical actuators, and this result is in line with the current healthy living and rehabilitation equipment services (OSIM), which are established in the form of rehabilitation institutions, clinics, and high-end foreign manufacturers. , Takashima, Fuji, Sanyo, etc.) provide a match.

At present, the current clinical intervention is still the main intervention measures and related physical therapy equipment. In recent years, the rapid development of micro-electromechanical and electromechanical integration technology, the robotic arm or the rehabilitation robot began to introduce clinical practice, It has become another highly integrated and highly functional alternative rehabilitation instrument. Most of the research literature is mainly in this field, mainly based on dynamic parameter measurement analysis and limb movement trajectory. In addition, for virtual reality In the application of rehabilitation practice, it is still in the early stage of research on rehabilitation robots in Taiwan. It focuses on the production of virtual situations, and the combination of these two technologies is also effective in specific areas. In recent years, due to the improvement of overall quality of life and The emphasis on medical quality, the seamless care of hospitals and homes and their management-related issues have gradually evolved to improve patient self-care and self-management effectiveness. However, the current technology is still unable to effectively improve the quantitative evaluation of the hospital's quantitative effect and expand the benefits of rehabilitation density, resulting in medical quality still needs to be improved. Therefore, the general practitioners cannot meet the needs of the user in actual use.

The main object of the present invention is to overcome the above problems encountered in the prior art and to provide a goal-oriented complex for assisting clinical medical staff to perform the rehabilitation practice appropriately and appropriately. Health support system and its work setting method, to improve the treatment of patients, and effectively improve the quantitative evaluation of the hospital side and expand the benefits of rehabilitation density, in order to improve the quality of medical care, so that the present invention can specifically provide cloud industry, medical And equipment manufacturers or service providers such as health care, and nursing aids, equipment and service delivery systems required for research and development.

The secondary objective of the present invention is to provide a rehabilitation target-oriented context interaction system architecture, target guidance action capture and tracing, action parameterization comparison algorithm and its application in the care end, not only having functional quantitative indicators The assessment, through the system to actively guide the correct rehabilitation procedures, has the goal-oriented rehabilitation assistance system and its work setting method to improve the effectiveness of voluntary rehabilitation.

For the purpose of the above, the present invention relates to a target-oriented rehabilitation auxiliary system and a work setting method thereof, which comprise a situation interaction module for controlling and generating a pre-made completed virtual virtual situation, in a virtual situation, according to the complex The health work setting displays the start marker at the beginning of rehabilitation and displays the corresponding target marker; a target guide trace module is connected to the context interaction module to detect the body after proper placement. The start marker can be used to detect the change of the limb movement by combining more than one sensor to select the initial marker, then move the limb and simultaneously detect and record the movement trajectory and strength of the limb movement to the target marker with the sensor. Change; an action parameterization analysis module, connected to the target guidance trace module, is to analyze the kinematic parameters and dynamic parameters of the motion track and force change between the start marker and the target marker; and a rehabilitation treatment record The module is connected with the parameterized analysis module of the action, and stores the kinematic parameters and the dynamic parameters, so as to provide medical personnel for follow-up rehabilitation Evaluation.

In a specific embodiment, the context interaction module mentioned above integrates display and input. The interactive device can be a touch screen, an electronic whiteboard, an optical motion sensing device combined with a single gun display device, or an optical motion sensing device combined with a liquid crystal display device.

In a specific embodiment, the virtual situation mentioned above is a rehabilitation training required to simulate the functional gripping action of the upper limbs of the hand grip function, and the functional motion includes flexion and extension, abduction, adduction, and rotation. And swinging the upper limbs.

In a specific embodiment, the rehabilitation work setting mentioned above is a line motion, a line combination motion, a circular motion, and a combined translation and rotation motion for the upper limb.

In a specific embodiment, the sensor provided includes a physical sensor and an optical sensor, and the physical sensor can be an accelerometer, a gyroscope, an altimeter, a dynamometer, and the above physical sensation. Mobile device, smart phone or portable device, and the optical sensor can be Webcam, IPcam, Microsoft Kinect, or ASUS WAVI Xtion.

In a specific embodiment, the above-mentioned starting mark and target mark may be a solid object and a virtual object, and the virtual object may be a schematic static symbol and an animation display.

In a specific embodiment, the kinematic parameters mentioned above are changes in the position of the human limb and the relative position of the joint when the limb is moved, which may be joint displacement, velocity and acceleration, joint bending angle, angular velocity, and angular acceleration. value.

In a specific embodiment, the kinetic parameter mentioned above is the grip force value of the hand grasping object.

In a specific embodiment, the above-mentioned rehabilitation treatment record module can store kinematic parameters and dynamic parameters to a portable memory device, a smart phone, a tablet device or a cloud hard disk.

In a specific embodiment, the scenario interaction module mentioned above has a virtual context database, which stores virtual context information according to an individual rehabilitation demand action template, and is used to provide a virtual rehabilitation reality function, so that the user Rehabilitation actions can be performed in a virtual situation.

In a specific embodiment, the rehabilitation treatment record module mentioned above has a rehabilitation treatment database for storing more than one user rehabilitation treatment information for providing a rehabilitation treatment effect for observing the user. Improve the situation.

100‧‧‧Target-oriented rehabilitation aid system

101‧‧‧ Situational Interaction Module

1011‧‧‧Virtual Situation Database

102‧‧‧Target Guided Trace Module

103‧‧‧Action Parametric Analysis Module

104‧‧‧Rehabilitation treatment record module

1041‧‧‧Rehabilitation Treatment Database

200‧‧‧Work setting method

201‧‧‧Virtual device display steps

202‧‧‧Manual/automatic selection steps

203‧‧‧Detecting body position steps

204‧‧‧ Suitable body position check procedures

205‧‧‧Start mark display step

206‧‧‧reach target marking check step

207‧‧‧Action parameter analysis steps

208‧‧‧Rehabilitation treatment record steps

209‧‧‧Determination of continuous rehabilitation steps

301‧‧‧Whiteboard

3011‧‧‧Two-way infrared sensor

302‧‧‧Blue Ball

3021‧‧‧.NET platform

3022‧‧‧Three-axis accelerometer

3023‧‧‧Gyro

3024‧‧‧ Pressure Sensing Meter

3025‧‧‧Bluetooth transmission interface

303‧‧‧ computer

3031‧‧‧.NET platform

3032‧‧‧Bluetooth transmission interface

3033‧‧‧Access database

304‧‧‧Projector

400‧‧‧Virtual interface operation method

401‧‧‧Select the step to test the patient number

402‧‧‧Determination of the connection between the Bluetooth ball and the computer

403‧‧‧Show connection error steps

404‧‧‧Enter the detection game screen and test the steps

405‧‧‧Show single test seconds step

406‧‧‧Test number check procedure

407‧‧‧Test continues to judge steps

408‧‧‧Show single test seconds step

409‧‧‧Rehabilitation treatment information is written into the Access database

410‧‧‧Show scale score step

411‧‧‧Rehabilitation treatment information is written into the Access database

10‧‧‧Rehabilitation

20‧‧‧ patients

Fig. 1 is a schematic diagram showing the architecture of the target-oriented rehabilitation auxiliary system of the present invention.

Fig. 2 is a schematic diagram of a typical operation template of the rehabilitation work setting of the present invention.

Fig. 3 is a schematic diagram showing the operation flow of the target-oriented rehabilitation auxiliary system of the present invention.

FIG. 4 is a schematic diagram of the game main menu and the rehabilitation history of the first embodiment of the present invention.

Fig. 5 is a schematic diagram showing the trend of game recording in the first embodiment of the present invention.

Figure 6 is a schematic diagram showing the architecture of the virtual reality rehabilitation system of the second embodiment of the present invention.

Figure 7 is a schematic diagram of the virtual interface of the Minnesota hand agility test of the second embodiment of the present invention.

Figure 8 is a flow chart showing the operation of the virtual interface of the second embodiment of the present invention.

Figure 9 is a schematic view of the history recording interface of the second embodiment of the present invention.

Please refer to FIG. 1 to FIG. 3, which are respectively a schematic diagram of the structure of the target-oriented rehabilitation auxiliary system of the present invention, a typical operation model diagram of the rehabilitation work setting of the present invention, and the target-oriented rehabilitation aid of the present invention. Schematic diagram of the system operation process. As shown The present invention is a target-oriented rehabilitation auxiliary system 100, which includes a context interaction module 101, a target guidance tracking module 102, and an action parameterization analysis module. The group 103 and a rehabilitation treatment record module 104 are composed.

The context interaction module 101 mentioned above is an interactive device for integrating display and input, and is used for controlling and generating a pre-made completed virtual virtual situation. In the virtual situation, according to the rehabilitation work setting, the display is started when the rehabilitation is started. Start tag and display the corresponding target tag.

The target-guided tracking module 102 is connected to the context interaction module 101 to detect the body's proper position and enable the start marker to detect the limb by combining more than one sensor. The action changes to select the starting marker, and then the limb is moved and the sensor simultaneously detects and records the movement trajectory and force change of the limb moving to the target marker.

The motion parameterization analysis module 103 is connected to the target guidance trace module 102, and analyzes the kinematic parameters and dynamic parameters of the motion trace between the start marker and the target marker and the power change.

The above-mentioned rehabilitation treatment record module 104 is connected to the motion parameterization analysis module 103, and stores the kinematic parameters and dynamic parameters to provide medical personnel for follow-up rehabilitation tracking evaluation.

Please refer to FIG. 3, which is a flow chart of the working setting method of the target-oriented rehabilitation auxiliary system of the present invention. In the job setting method 200, the virtual device display step 201 is first performed. In the virtual device display step 201, the context interaction module 101 is a touch screen, an electronic whiteboard, and an optical type through integrated display and input interaction. The motion sensing device is combined with the single gun display device or the optical motion sensing device in combination with the liquid crystal display device for rehabilitation. The virtual context information required for training is stored in the virtual context database 1011, first through the manual/automatic selection step 202. Pre-set and selected by the clinical staff according to the user's rehabilitation situation, which mainly simulates the hand grasping function to perform the functional activities of the upper limbs in daily life, including upper limb movements such as flexion and extension, abduction, adduction, rotation and maneuvers, among which the upper limbs The joints mainly include the shoulder joint, the elbow joint and the wrist joint; the rehabilitation work is set according to the rehabilitation situation, mainly performing the line motion, the line combination movement, the circular motion, and the combined translation and rotation motion, and the typical motion model is as follows. Figure 2 shows. In the virtual rehabilitation process, according to the rehabilitation work setting, the starting mark of the rehabilitation is displayed, and the corresponding target mark is displayed at the same time, and the related presentation mark can be a physical object, such as an entity grasping a cup, a mouse or a chess object. It can also be a virtual object to simulate the creation of a virtual fixture or device for rehabilitation training, such as a photo of a caregiver, a photo of a family member, a photo of a fruit, and a photo of a common item, or to animate it. . Then, a body positioning step 203 is performed to allow the user's limb to be placed in the most comfortable position. Then, a suitable body position checking step 204 is performed to check whether the limb is in an appropriate position, and if not, return to the detecting body position step 203; and after detecting the proper body position, the initial mark display step 205 is performed. Further enable the start tag. In the initial mark display step 205, the target guide tracking module 102 detects the change of the upper limb motion by means of a physical sensor placed on the hand or on the grasping entity, or by an optical sensor. The physical marker can be an accelerometer, a gyroscope, an altimeter, a dynamometer, and a mobile device including the above physical sensor, a smart phone or a portable device; the optical sensor can be a Webcam, IPcam, Microsoft Kinect, or ASUS WAVI Xtion. Then, the arrival target mark check step 206 is performed, and the system detects and records the movement of the hand and the limb from the start mark to the target. The action track and the force change of the mark, when the detection result is no, return to the start mark display step 205; when the detection result is YES, the action parameter analysis step 207 is performed. In the action parameter analysis step 207, the action parameterization analysis module 103 records and analyzes the human body limb position and its joint point displacement, velocity and acceleration, joint bending angle, angular velocity, and angular acceleration during limb movement. The kinematic parameters such as values; and the kinetic parameters of the grip strength of the hand grip are also recorded. Finally, the rehabilitation treatment record step 208 and the judgment continuous rehabilitation action step 209 are performed separately. In the rehabilitation treatment record step 208, the rehabilitation treatment record database 104 is connected through the rehabilitation treatment record module 104, and the related kinematics and dynamic parameters can be connected to the portable memory device, the smart phone, and the tablet. Computer devices and cloud hard drives to provide medical staff with follow-up rehabilitation tracking assessments. And in the judgment continuous rehabilitation action step 209, it is judged whether the rehabilitation action continues, and if the rehabilitation action is to be continued, the manual/automatic selection step 202 is returned; otherwise, the rehabilitation procedure ends.

If so, the above-mentioned disclosed architecture and process constitute a new target-oriented rehabilitation auxiliary system and its work setting method.

Please refer to FIG. 4 and FIG. 5, which are respectively a schematic diagram of the game main menu and the rehabilitation history of the first embodiment of the present invention, and a game recording trend diagram of the first embodiment of the present invention. As shown in the figure: When applied, based on the above-described system architecture and method, in the first embodiment, the feasibility of the present invention is specifically demonstrated by taking the upper limb functional rehabilitation of the stroke patient as an example. First of all, this embodiment uses Kinect game to assist the upper limb rehabilitation of patients with mild to moderate stroke, and analyzes the problem of the reaction speed and limb dexterity of stroke patients, mainly using the Kinect device produced by Microsoft Corporation to further develop the home rehabilitation game. Solve the difficulty of patients needing long-term rehabilitation time and medical environment In order to achieve the accuracy of the complete continuous rehabilitation and rehabilitation actions, the relevant data is recorded in the game to establish a data database and trend map feedback to the rehabilitation teacher, and the patient can also understand his own rehabilitation effect through his game record. The development environment software development platform is Microsoft Visual Studio .NET Framework; the motion sensing hardware device is the Kinect device and the NUI skeleton tracking library, which can be used to obtain the user's three-dimensional skeleton position and direction information; It can actively track two users. Each user can record 20 sets of details, including the torso, limbs and fingers, all of which are traced to achieve full body sense operation, including the shoulder joint and elbow joint mentioned in this case. Upper limb joints such as wrist joints. In the evaluation, the use of the game to match the advice of the rehabilitation teacher, so that the rehabilitation game is not boring to increase entertainment, so that patients in the long-term rehabilitation, will not be lazy due to boring, and thus can develop long-term rehabilitation habit.

As shown in Figure 4, the game mainly achieves the effect of accuracy training by clicking on the target at different positions. The target has depth information, and the joint point is matched with the depth of the target. The function is mainly shown on the left side of the figure. : You can set the time of the target, the total number of occurrences, and the area where it appears; and the record on the right side of the figure: time and number of times.

In addition, you can choose one-hand operation or two hands to operate at the same time, you can also select the game record in the main menu to view the history game record, as shown in Figure 5; in the game record chart, you can choose to watch different ranges of game records. . Link the rehabilitation treatment database to further read the trend records in the game, and observe all the game record consolidation charts to facilitate the observation of the user's improvement.

Please refer to FIG. 6 to FIG. 9 , which are respectively a schematic diagram of a virtual reality rehabilitation system architecture according to a second embodiment of the present invention, and a Minnesota according to a second embodiment of the present invention. The schematic diagram of the virtual interface of the hand agile test, the schematic diagram of the virtual interface operation flow of the second embodiment of the present invention, and the historical interface of the second embodiment of the present invention. As shown in the figure: in the second embodiment, in order to apply the virtual reality technology to the upper limb rehabilitation of the elderly in the stroke, the embodiment uses the electronic whiteboard 301 and the Bluetooth ball 302 device, and combines the Minnesota hand agility test score table (Complete Minnesota Dexterity Test Score Sheet Model), through the virtual Minnesota board game, can explore the upper limb elbow/shoulder joint mobility, wrist position kinematics parameters and hand grip strength changes, and make the process full of fun and sense of accomplishment, Not only can it improve the patient's willingness to rehabilitate, but it can also improve the effectiveness of treatment. In the rehabilitation part of the upper limbs, reaching out and picking up the body can be the most frequent functional action in daily life. The angle, grip strength and acceleration can be obtained by two tests such as taking and placing motion. A record is used to assist in assessing the degree of functional movement of the upper limb of the patient. The invention only takes the action of the test placement test in the Minnesota hand agility test scale as a design development reference, and the system architecture is as shown in Fig. 6. The software development platform is Microsoft's .NET platform (Microsoft Visual Studio .NET Framework) 3021, 3031; wherein the electronic whiteboard 301 has a plurality of bidirectional infrared sensors 3011; and the Blobo 302 is a Finnish venture company Ball- It is released by the It. The ball contains a variety of sensors, such as a three-axis accelerometer 3022, a gyroscope 3023, a pressure sensor 3024, etc., and provides a Bluetooth transmission interface 3025, which can directly transmit the sensing value to other Bluetooth transmissions. The computer 303 of the interface 3032, the computer device 303 can quickly access the Access database 3033 data through the .NET Framework, and communicate with the electronic whiteboard 301 via the projector 304. The related rehabilitation actions mainly include: six degrees of freedom motion And pointing to the data; simulating the gripping force and tapping function; and corresponding to the actual coordinate system according to the magnetic pole and gravity.

If it is necessary to achieve the rehabilitation activity specified by the automated sensing, the process of similar gripping disc placement is simulated by the Bluetooth ball sensing device, as shown in FIG. In the present invention, in addition to the seconds record of the traditional Minnesota hand agility test, the patient 20 is detected by the three-axis accelerometer 3022, the gyroscope 3023 and the pressure sensor 3024 included in the Bluetooth ball 302, respectively. The extent to which the hand shakes when the blue ball 302 is grasped during the test, and the degree of change of the 302 force and the stability of the grip force when the patient 20 grasps the blue ball is detected. With these sensing data, the auxiliary rehabilitation engineer 10 assess the patient 20 rehabilitation process situation. However, the Bluetooth ball 302 system alone cannot accurately detect the position of the disc placed in the same way as the traditional placement test. In order to reinforce the positioning accuracy, the electronic whiteboard 301 is further combined to accurately detect the absolute coordinates through the electronic whiteboard 301. In the large touch screen, the coordinate value and the selected state are continuously transmitted to the computer 303, and the image projected on the electronic whiteboard 301 will appear at a specific position to allow the patient 20 to perform a regular click operation by clicking the state. Identify whether the patient 20 is correctly clicked to a specific target, and the system operation flow is as shown in FIG. In this system virtual interface method 400, a select patient number step 401 is first performed to identify the patient's number. Then, a step 402 of judging the connection between the Bluetooth ball and the computer is performed. In the step of determining the connection between the Bluetooth ball and the computer, the Bluetooth ball 302 communicates with the computer 303 through the Bluetooth transmission interface 3025, 3032. When the determination result is no, the display connection error step 403 is performed, and the result is returned. In the detection patient number step 401, the patient's number is re-identified; when the determination result is YES, the entry detection game screen is performed and the detection step 404 is performed, and the virtual angle game is used to test the acquisition angle, grip strength and acceleration. Next, a single test seconds step 405 is displayed to present the results of the patient completing a round of test tests. Then, a test count check step 406 is performed. In the test count check step 406, the check has been Whether the number of tests performed reaches the preset number of tests (this embodiment is set to 4 times), when the result of the check is no, the test continues to determine step 407; when the result of the check is yes, the step of displaying the single test seconds is performed 408 . In the test continuation determination step 407, it is determined whether the preset test number has not been tested, and if it is returned to the detection game screen and the detection step 404, otherwise the rehabilitation treatment information is written into the Access database step 409, by the computer 303. During the rehabilitation treatment, the test seconds and the sensed data that are less than the preset number of tests are stored in the Access database 3033. Then, return to the test patient number step 401. In the Display Single Test Seconds step 408, the results of the patient completing one round of test tests are presented. Next, a display scale score step 410 is performed. In the Show Scale Score step 410, the patient is presented in the Hand Agility Test Scale to test the score of the placement test action. Finally, the rehabilitation treatment information is written into the Access database step 411, and the computer 303 performs the rehabilitation treatment, and the test seconds, the total seconds of the sensing data, and the scale scores of the preset test times are stored to In the Access database 3033, the test flow is ended.

The rehabilitation auxiliary assessment data of the present invention is presented in a multi-dimensional chart to establish a more complete auxiliary rehabilitation assessment tool, such as the historical record shown in Figure 9, wherein the upper graph is the scale score and the horizontal axis is the test date. The vertical axis is the scale score, and the historical score is presented as a discount map. In the middle chart, the vertical axis is the grip strength value, the horizontal axis is the detection date, the fold line is the average grip force of each patient's test, and the line segment is the standard deviation of the grip strength. The longer the grip line segment is, the less its grip strength is. In the lower graph, the vertical axis is the average jitter acceleration, the horizontal axis is the detection date, the fold line is the average jitter acceleration of the patient for each test, and the line segment is the standard deviation of the jitter. Long means that the degree of jitter is greater. The rehabilitation staff can observe the overall recovery of the patient through historical records, assess whether the patient is recovering well through the line graph, or improve the treatment policy to provide the most patients. Good medical care.

The rehabilitation target-oriented context interaction system architecture, the target guidance action capture and tracing, the motion parameterization comparison algorithm and the application on the care end are different from the traditional technology, and the user needs to be in the medical staff first. Under the guidance, establish and verify the individual rehabilitation demand action model under the guidance; the user then performs parameterized similarity comparison according to the action template data; the invention not only provides functional quantitative index evaluation, but also can actively guide through the system. The correct rehabilitation procedure is introduced, thereby reducing the secondary injury caused by the incorrect positioning action. Therefore, the main technical features of the present invention have the effect of improving the self-recovery and can provide the following advantages:

(1) Quantification of rehabilitation actions allows the rehabilitation engineer to track the progress of the patient's rehabilitation through the data, and solve the problem that the rehabilitation engineer has one-to-many patients and cannot really grasp the progress of the reconstruction.

(2) Rehabilitation process records, in addition to allowing the rehabilitation teacher to master the patient's rehabilitation progress, can also allow patients to understand their own rehabilitation progress through the data chart, and thus increase the patient's willingness to rehabilitate.

(3) The weight of the rehabilitation instrument is lighter. Compared with the traditional instrument, the new sensing and actuating device is small and lightweight, and the patient is easy to operate when doing rehabilitation. In addition, there is no space in rehabilitation. Limiting, reducing the burden on patients also improves the quality of the hospital environment.

Therefore, the present invention provides a target-oriented rehabilitation auxiliary system and a work setting method thereof, which mainly include a situation interaction module, a target guidance tracking module, an action parameterization analysis module, and a rehabilitation treatment record module. It can make the hospital-side rehabilitation equipment simple, and combine the physical sensing device to quantitatively detect the rehabilitation movement and provide immediate feedback guidance. The virtual rehabilitation is mainly carried out through the integrated display and input interactive device; the obtained human limb position and its joint point displacement, velocity and acceleration, and joint bending are analyzed. Kinematic parameters such as angle, angular velocity, and angular acceleration, as well as the kinetic parameters of the grip strength of the hand, are then stored in the portable memory device, smart phone, tablet device, and Cloud hard drive to provide medical staff for follow-up rehabilitation tracking assessment. Through the technology of the present invention, a rehabilitation aid system for assisting clinical medical staff to perform the rehabilitation practice appropriately and appropriately can be provided, thereby improving the treatment situation of the patient, and effectively improving the quantitative evaluation of the hospital end and expanding the rehabilitation density. Benefits to improve medical quality, and thus the present invention can specifically provide equipment manufacturers or service providers such as cloud industry, medical and health care, and nursing aids, equipment and service providing systems required for research and development.

In summary, the present invention is a target-oriented rehabilitation auxiliary system and a work setting method thereof, which can effectively improve various disadvantages of the conventional use, and provide a rehabilitation auxiliary system for assisting clinical medical staff to perform the rehabilitation practice appropriately, thereby improving the patient. The treatment situation can effectively improve the quantitative assessment of the hospital's side and increase the benefits of rehabilitation density, so as to improve the quality of medical care, to meet the needs of equipment manufacturers or service providers, research and development fields that can provide cloud industry, medical and health care, etc. The care auxiliary device, equipment and service providing system, in order to make the invention more progressive, more practical and more suitable for the user, have indeed met the requirements of the invention patent application, and filed a patent application according to law.

However, the above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto; therefore, the simple equivalent changes and modifications made in accordance with the scope of the present invention and the contents of the invention are modified. All should remain within the scope of the invention patent.

100‧‧‧Target-oriented rehabilitation aid system

101‧‧‧ Situational Interaction Module

1011‧‧‧Virtual Situation Database

102‧‧‧Target Guided Trace Module

103‧‧‧Action Parametric Analysis Module

104‧‧‧Rehabilitation treatment record module

1041‧‧‧Rehabilitation Treatment Database

Claims (10)

A goal-oriented rehabilitation auxiliary system includes: a context interaction module for controlling and generating a pre-made completed virtual virtual situation. In the virtual situation, according to the rehabilitation work setting, the start is displayed at the beginning of rehabilitation. Marking, and simultaneously displaying the corresponding target mark, wherein the context interaction module has a virtual situation database, which stores virtual situation information according to the individual rehabilitation demand action template, and is used for providing the function of virtual rehabilitation reality, so that The user can perform a rehabilitation action in a virtual situation; a target-guided tracking module is connected to the context interaction module to enable the start marker to be detected after the body is properly placed, by combining more than one The sensor detects the change of the limb movement to select the initial mark, then moves the limb and simultaneously detects and records the movement trajectory and force change of the limb movement to the target mark by the sensor; an action parameterization analysis module, Connected with the target guiding trace module to analyze the kinematic parameters and dynamic parameters of the motion trajectory and force variation between the start marker and the target marker; Rehabilitation treatment record module, connected with the action parameter analysis module, the kinematic parameters based storage and kinetic parameters, serve to provide medical personnel for subsequent evaluation of the track rehabilitation. According to the target-oriented rehabilitation auxiliary system described in claim 1, wherein the situation interaction module is an interactive device that integrates display and input, and can be combined with a touch screen, an electronic whiteboard, and an optical motion sensing device. The single gun display device or the optical motion sensing device is combined with a liquid crystal display device. According to the target-oriented rehabilitation auxiliary system described in claim 1 of the patent application scope, the virtual situation is a rehabilitation training required to simulate the functional function of the upper limb daily life of the hand grasping function, and the functional action is Includes flexion and extension, abduction, adduction, rotation and gyro upper limb movement. The goal-oriented rehabilitation assisting system according to the first aspect of the patent application scope, wherein the rehabilitation work setting is a line action, a line combination action, a circular action, and a combined translation and rotation action for the upper limb. According to the object of claim 1, the target-oriented rehabilitation auxiliary system, wherein the sensor comprises a physical sensor and an optical sensor, and the physical sensor can be an accelerometer, a gyroscope, an altimeter. A dynamometer, a mobile device including the above physical sensor, a smart phone or a portable device, and the optical sensor can be a Webcam, an IPcam, a Microsoft Kinect, or an ASUS WAVI Xtion. According to the object of claim 1, the target-oriented rehabilitation auxiliary system, wherein the start mark and the target mark can be a solid object and a virtual object, and the virtual object can be a static static symbol and an animation display. According to the target-oriented rehabilitation auxiliary system described in the first paragraph of the patent application scope, the kinematic parameter is the displacement of the human limb segment and the relative position of the joint when the limb is moved, which may be the displacement, velocity and acceleration of the joint point. , joint bending angle, angular velocity, and angular acceleration values. The target-oriented rehabilitation assist system according to the first aspect of the patent application scope, wherein the kinetic parameter is the grip strength value of the hand grasping object. According to the target-oriented rehabilitation auxiliary system described in claim 1 of the patent application scope, the rehabilitation treatment record module can store kinematic parameters and dynamic parameters to a portable memory device, a smart phone, a tablet device. Or a cloud drive. Target-oriented rehabilitation assistance system according to the scope of claim 1 of the patent application, wherein The Rehabilitation Treatment Recording Module has a Rehabilitation Treatment Database that stores more than one user rehabilitative treatment information to provide the effect of the Rehabilitation Treatment to facilitate the observation of the user's improvement.