WO2010082719A1 - Rehabilitation training apparatus for legs - Google Patents

Rehabilitation training apparatus for legs Download PDF

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Publication number
WO2010082719A1
WO2010082719A1 PCT/KR2009/004381 KR2009004381W WO2010082719A1 WO 2010082719 A1 WO2010082719 A1 WO 2010082719A1 KR 2009004381 W KR2009004381 W KR 2009004381W WO 2010082719 A1 WO2010082719 A1 WO 2010082719A1
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WO
WIPO (PCT)
Prior art keywords
patient
display
frame
leg
rehabilitation
Prior art date
Application number
PCT/KR2009/004381
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French (fr)
Korean (ko)
Inventor
유인조
Original Assignee
Yoo In Jo
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Publication date
Application filed by Yoo In Jo filed Critical Yoo In Jo
Publication of WO2010082719A1 publication Critical patent/WO2010082719A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0176—By stopping operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0406—Standing on the feet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/04—Heartbeat characteristics, e.g. E.G.C., blood pressure modulation
    • A61H2230/06—Heartbeat rate
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/30—Blood pressure

Definitions

  • the present invention relates to a device for rehabilitation of the leg, and more particularly, while the patient is standing with the leg uncomfortable to move the patient's leg by the power, while the front of the screen installed in accordance with the movement of the patient to output the moving screen to the patient
  • the present invention relates to a rehabilitation apparatus for a leg that allows the user to have a feeling of actually walking along a path outputted to the foot, thereby easily improving walking training and effectively performing rehabilitation treatment.
  • Walking rehabilitation training for rehabilitation therapy is very important for patients who have not been able to walk normally due to an injury or paralysis of a part of the body due to an accident or a disease of the nervous system such as a stroke.
  • Rehabilitation is divided into physical rehabilitation and mental rehabilitation.
  • Physical rehabilitation is to restore the physical function of damaged body parts such as muscles, and mental rehabilitation is to restore the body by restoring the mental power of the patient.
  • gait rehabilitation training which is a rehabilitation therapy, is necessary. If the patient is repeatedly trained using a rehabilitation device, it helps to recover the function of the patient. Reduce physical effort.
  • rehabilitation devices such as walkers, stairs, parallel bars, and the like are widely used.
  • rehabilitation tools require active help from a rehabilitation therapist, it is difficult to perform rehabilitation training easily and effectively.
  • the present invention is to solve the problems of the prior art as described above, an object of the present invention is to move the patient's leg by the power of the patient standing up the leg uncomfortable, while outputting the length moving in accordance with the movement of the patient on the screen installed in front It is to provide a leg rehabilitation apparatus for improving the walking training and to effectively perform rehabilitation treatment by making the patient actually feels walking along the road output to the screen.
  • the present invention is a leg rehabilitation apparatus for use in walking rehabilitation of the patient, the lower frame for supporting the entire device; An upper frame spaced apart above the lower frame; A rotating frame having a mattress lying down on the patient and a plurality of belts for fixing the patient, the rotating frame being rotatably installed on the upper frame; An expansion cylinder which connects the upper frame and the rotation frame and rotates the rotation frame; A display installation member installed at the center of the front end of the lower frame; A front end coupled to a lower end of a link rotatably installed on a side of the display mounting member, and a rear end coupled to an end of a crankshaft connected to a motor, the two pedals repeatedly reciprocating;
  • Technical features of the leg rehabilitation apparatus is installed on the upper end of the display installation member and comprises a monitoring system consisting of a display for outputting the screen, and a controller for controlling the motor, the expansion cylinder and the display. .
  • the controller outputs a video signal for implementing a virtual reality that a pedestrian can see while walking on a screen through the display, and controls the signals input to the motor and the display to control the display according to the rotation speed of the motor. It is characterized by changing the speed of the virtual reality image through.
  • the rehabilitation apparatus of the leg is further provided with a heart rate monitor for measuring the heart rate or blood pressure of the patient is characterized in that it is connected to the controller of the monitoring system.
  • the pedal is provided with a footrest for restoring the foot of the patient, a foot fixing belt installed on the footrest to fix the foot of the patient, a belt mount installed on the side of the footrest, and is installed at the upper end of the belt mount Characterized in that comprises a leg fixing belt for fixing the legs.
  • the monitoring system may input and store a history of use of the patient so as to utilize the treatment of the patient, and output the use history of the patient through a display or an external output device.
  • Safety handles are installed on both sides of the lower frame, respectively.
  • the rehabilitation device of the leg according to the present invention is thus self walking without the active help of the rehabilitation therapist during the gait training time because the leg is fixed and the patient is moved upright after fixing the patient who is inconvenient enough to walk on the leg.
  • the patient himself feels standing and walking, which facilitates gait training, and visually shows the patient moving forward along the road in virtual reality through the screen displayed on the display of the monitoring system. Therefore, there is an advantage that the physical and mental rehabilitation treatment can be efficiently performed by making the patient feel like walking on the road and utilizing the patient's use history for the treatment.
  • FIG. 1 is a perspective view showing a rehabilitation apparatus of the leg according to the present invention
  • FIG. 2 and 3 is a side cross-sectional view showing a rehabilitation apparatus of the leg according to the present invention
  • Figure 4 is a perspective view showing another embodiment of the pedal of the rehabilitation apparatus of the leg according to the present invention.
  • FIG. 5 is a block diagram showing a control unit applied to the rehabilitation apparatus of the leg according to the present invention.
  • FIG. 1 to 3 is a view showing a leg rehabilitation apparatus according to the present invention, the leg rehabilitation apparatus according to the present invention is used for walking rehabilitation of the patient.
  • the rehabilitation apparatus of the leg according to the present invention is not only the legs but also the upper body in order to make the patient stand up, so that the patient is standing, the upper frame 2 is installed above the lower frame 1 is spaced apart from the upper side
  • the front end of the frame (2) is installed to be located in the rear side than the front end of the lower frame (1), the rotating frame (5) having a mattress (3) lying down the patient and a plurality of belts (4) for fixing the patient
  • the upper frame 2 and the hinge 5a are coupled to each other so that the rotating frame 5 is laid down and erected.
  • the expansion cylinder (6) can use a hydraulic cylinder, pneumatic cylinder, electric actuator and the like.
  • two pedals 8 which are repeatedly rocked in a constant pattern by the power of the motor 7 are installed in the front part of the lower frame 1.
  • the front end of the pedal 8 is coupled to the lower end of the link 10 rotatably installed on the side of the display mounting member 9 erected in the center of the front end of the lower frame 1, and the rear end of the pedal 8 It is coupled with the end of the crankshaft (11) rotated by the motor (7).
  • the safety handles 12 are installed on both sides of the lower frame 1, respectively.
  • a monitoring system having a display 13a for outputting a screen visible to the naked eye and a controller 13b for controlling the display 13a, the motor 7, and the expansion cylinder 6 ( 13).
  • the display 13a is installed at the upper end of the display mounting member 9, and the controller 13b is connected to the display 13a, the motor 7 and the expansion cylinder 6.
  • the expansion cylinder 6 includes a controller 13b for outputting a signal for implementing a virtual reality that a pedestrian can see while walking on a screen output through the display 13a. ) And the motor 7 to control the expansion cylinder 6 and the motor (7).
  • controller 13b may output the usage history through a display or an external output device (not shown) so as to input and store the usage history of the patient to utilize the patient's treatment.
  • an input unit 14 which sends a signal to the controller 13b may be connected to the controller 13b, thereby causing the controller 13b to operate the expansion cylinder 6 by a signal input to the input unit 14. , The rotation speed of the motor 7 can be adjusted.
  • the input unit 14 may be configured separately, but it is obvious that the display 13a of the monitoring system 13 may send a signal to the controller 13b in a touch screen manner.
  • the controller 13b of the monitoring system 13 controls a signal input to the motor 7 and the display 13a and outputs the virtual signal output through the display 13a according to the rotation speed of the motor 7. It changes the speed of reality.
  • the walking training does not end with a simple leg movement but gives the patient the feeling that he is actually walking to implement a more effective walking training method. It is desirable to install the display at eye level of the patient.
  • the contents of the virtual reality is to output the actual running surface to adjust the play speed of the virtual reality in accordance with the speed of the pedals by the motor.
  • the feeling of walking slowly, and when the patient walks fast training, the screen is rotated quickly so that the patient actually feels walking fast.
  • the present invention also includes a configuration in which the heart rate monitor 15 for measuring the heart rate or blood pressure of the patient is connected to the controller 13b of the monitoring system 13.
  • the controller 13b stops the operation of the motor 7 and generates a sound when a dangerous situation occurs by quickly detecting an abnormal symptom of the patient according to the heart rate or blood pressure measured by the heart rate monitor 15. (Not shown) or a warning light (not shown) to inform the rehabilitation therapist.
  • a means for fixing below the knee of the patient is provided. It can be provided further.
  • the footrest belt 8b for fixing the foot of the patient is provided on the footrest 8a on which the foot of the patient is placed, and the belt mounting stand 8c standing on the side surface of the footrest 8a.
  • the sole of the patient is placed on the foot plate 8a of the pedal 8, and the screen is displayed on the display 13a of the monitoring system 13 while the motor 7 is driven.
  • the patient is supported by the rotating frame 5 so that the patient can have a feeling of standing and walking.
  • the pedal (8) between the crank (11) and the link (10) can not only elliptical movement, but also rotate the ankle of the patient can perform walking rehabilitation training in a pattern close to normal walking, in particular of the patient Paralysis may not be severe or the gait ability may be implemented by using the safety grip 12 or by adjusting the fixing degree of the belt 4 to give a resistance to the leg of the patient to implement an active-resistive exercise form.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The rehabilitation training apparatus for legs according to the invention is used for training a patient for walking rehabilitation, and comprises a monitoring system consisting of: a lower frame that supports the entire apparatus, an upper frame that is installed separately above the lower frame; a rotation frame that is furnished with a mattress used for a patient to lie down and a plurality of belts used to fix the patient in place that are installed on the upper frame to allow rotation; an elastic cylinder that connects the upper frame with the rotation frame and rotates the rotation frame; a display installation member that is installed on the center of the tip part of the lower frame; two pedals that have their front parts joined with the bottom of a link that is installed on the side of the display installation body to allow rotation, while their rear parts become joined with the end part of a crankshaft connecting with a motor to enable reciprocating motions repeatedly; a display that is installed at the top of the display installation member and outputs a screen; and a controller that controls the motor, shrinkable cylinder, and display; this has the advantages that a patient can train on walking by himself without active assistance from a rehabilitation therapist, that the patient is made to feel that he stands and walk for himself, and that the patient is awarded with the visual effect of actually walking on the street so that it is easy to train for walking, and physical and mental rehabilitation therapies for a patient can be performed more efficiently.

Description

다리의 재활훈련장치Leg rehabilitation device
본 발명은 다리의 재활훈련장치에 관한 것으로서, 더욱 상세하게는 다리가 불편한 환자를 세워서 동력으로 환자의 다리를 움직이도록 하면서, 전방에 설치된 화면에 환자의 움직임에 따라 움직이는 길이 출력되도록 함으로써 환자가 화면에 출력되는 길을 따라 실제로 걷고 있는 느낌을 갖도록 하여, 보행 훈련을 용이하게 향상시키고 재활 치료를 효과적으로 수행할 수 있도록 하는 다리의 재활훈련장치에 관한 것이다.The present invention relates to a device for rehabilitation of the leg, and more particularly, while the patient is standing with the leg uncomfortable to move the patient's leg by the power, while the front of the screen installed in accordance with the movement of the patient to output the moving screen to the patient The present invention relates to a rehabilitation apparatus for a leg that allows the user to have a feeling of actually walking along a path outputted to the foot, thereby easily improving walking training and effectively performing rehabilitation treatment.
사고 등에 의하여 신체의 일부인 다리의 손상 또는 마비가 발생한 환자, 뇌졸중 등과 같은 신경 계통의 질병에 의하여 정상적으로 보행하지 못하는 환자는 재활치료를 위한 보행 재활 훈련이 매우 중요하다.Walking rehabilitation training for rehabilitation therapy is very important for patients who have not been able to walk normally due to an injury or paralysis of a part of the body due to an accident or a disease of the nervous system such as a stroke.
재활은 육체적 재활과 정신적 재활로 대별되며, 육체적 재활은 근육 등의 손상된 신체 부분의 육체적 기능을 회복시키는 것이고, 정신적 재활은 환자의 정신력을 회복하여 신체를 회복시키는 것이다.Rehabilitation is divided into physical rehabilitation and mental rehabilitation. Physical rehabilitation is to restore the physical function of damaged body parts such as muscles, and mental rehabilitation is to restore the body by restoring the mental power of the patient.
다리의 손상이나 마비 등으로 인하여 인체의 다리를 정상적인 상태로 회복하기 위해서는 재활 치료인 보행 재활 훈련이 필요하며, 환자가 재활 장치를 이용하여 반복적으로 훈련하면 환자의 기능회복에 도움이 되고, 재활치료사의 물리적인 노력을 줄일 수 있다.In order to restore the leg of the human body to a normal state due to damage or paralysis of the legs, gait rehabilitation training, which is a rehabilitation therapy, is necessary.If the patient is repeatedly trained using a rehabilitation device, it helps to recover the function of the patient. Reduce physical effort.
보행 재활에 사용되는 장치로서는 보행기, 계단, 평행봉 등과 같은 재활 장치가 많이 이용되고 있으나, 이러한 도구는 재활치료사의 적극적인 도움을 필요로 하기 때문에 재활 훈련을 쉽고 효과적으로 수행하기 어렵다는 단점이 있다.As a device used for walking rehabilitation, rehabilitation devices such as walkers, stairs, parallel bars, and the like are widely used. However, since such tools require active help from a rehabilitation therapist, it is difficult to perform rehabilitation training easily and effectively.
그래서 종래에는 특허출원 제10-2007-43763호로 출원 및 등록된 보행 보조용 로봇 등이 개발되어 있으나, 이는 그 기계 시스템이 매우 복잡할 뿐 아니라 그 규모가 커서 제작 비용이 많이 소요되며, 재활 장치가 고가이기 때문에 일반 병원이나 가정 등에서 사용하기 힘들다는 단점이 있다.So, conventionally, a walking aid robot, which is filed and registered under patent application No. 10-2007-43763, has been developed. However, the mechanical system is not only very complicated, but also the size of the robot is very large. Since it is expensive, it is difficult to use in a general hospital or home.
본 발명은 상기와 같은 종래 기술의 문제점을 해결하기 위한 것으로서, 본 발명의 목적은 다리가 불편한 환자를 세워서 동력으로 환자의 다리를 움직이도록 하면서, 전방에 설치된 화면에 환자의 움직임에 따라 움직이는 길이 출력되도록 함으로써 환자가 화면에 출력되는 길을 따라 실제로 걷고 있는 느낌을 갖도록 하여, 보행 훈련을 용이하게 향상시키고 재활 치료를 효과적으로 수행할 수 있도록 하는 다리의 재활훈련장치를 제공하는 데 있다.The present invention is to solve the problems of the prior art as described above, an object of the present invention is to move the patient's leg by the power of the patient standing up the leg uncomfortable, while outputting the length moving in accordance with the movement of the patient on the screen installed in front It is to provide a leg rehabilitation apparatus for improving the walking training and to effectively perform rehabilitation treatment by making the patient actually feels walking along the road output to the screen.
상기와 같은 목적을 달성하기 위하여, 본 발명은 환자의 보행 재활에 사용되는 다리의 재활훈련장치에 있어서, 장치 전체를 지지하는 하측프레임과; 상기 하측프레임의 위쪽에 이격 설치되는 상측프레임과; 환자를 눕히는 매트리스와 환자를 고정하는 다수의 벨트를 구비하며, 상기 상측프레임에 회전 가능하게 설치되는 회전프레임과; 상기 상측프레임과 회전프레임를 연결하며, 상기 회전프레임을 회동시키는 신축실린더와; 상기 하측프레임의 선단부 중앙에 설치되는 디스플레이 설치부재와; 전단부는 상기 디스플레이 설치부재의 측면에 회전 가능하게 설치된 링크의 하단부와 결합되며, 후단부는 모터에 연결되는 크랭크축의 단부와 결합되어, 반복적으로 왕복운동하는 두 개의 페달과; 상기 디스플레이 설치부재의 상단부에 설치되며 화면을 출력하는 디스플레이와, 상기 모터, 신축실린더 및 디스플레이를 제어하는 제어기로 이루어지는 모니터링 시스템을 포함하여 구성되는 것을 특징으로 하는 다리의 재활훈련장치를 기술적 특징으로 한다.In order to achieve the above object, the present invention is a leg rehabilitation apparatus for use in walking rehabilitation of the patient, the lower frame for supporting the entire device; An upper frame spaced apart above the lower frame; A rotating frame having a mattress lying down on the patient and a plurality of belts for fixing the patient, the rotating frame being rotatably installed on the upper frame; An expansion cylinder which connects the upper frame and the rotation frame and rotates the rotation frame; A display installation member installed at the center of the front end of the lower frame; A front end coupled to a lower end of a link rotatably installed on a side of the display mounting member, and a rear end coupled to an end of a crankshaft connected to a motor, the two pedals repeatedly reciprocating; Technical features of the leg rehabilitation apparatus is installed on the upper end of the display installation member and comprises a monitoring system consisting of a display for outputting the screen, and a controller for controlling the motor, the expansion cylinder and the display. .
상기 제어기는 보행자가 길을 걸으면서 볼 수 있는 가상현실을 구현하는 영상신호를 상기 디스플레이를 통하여 화면으로 출력하고, 상기 모터와 디스플레이에 입력되는 신호를 제어하여 상기 모터의 회전수에 따라 상기 디스플레이를 통하여 가상 현실 영상의 속도를 변화시키는 것을 특징으로 한다.The controller outputs a video signal for implementing a virtual reality that a pedestrian can see while walking on a screen through the display, and controls the signals input to the motor and the display to control the display according to the rotation speed of the motor. It is characterized by changing the speed of the virtual reality image through.
상기 다리의 재활훈련장치에는 환자의 심박수 또는 혈압을 측정하는 심박혈압계가 더욱 구비되어 상기 모니터링 시스템의 제어기와 연결되는 것을 특징으로 한다.The rehabilitation apparatus of the leg is further provided with a heart rate monitor for measuring the heart rate or blood pressure of the patient is characterized in that it is connected to the controller of the monitoring system.
상기 페달은 환자의 발을 안치시키는 발판과, 환자의 발을 고정하기 위해 상기 발판에 설치되는 발고정벨트와, 상기 발판의 측면에 설치되는 벨트설치대와, 상기 벨트설치대의 상단부에 설치되며 환자의 다리를 고정시키기 위한 다리고정벨트를 포함하여 구성되는 것을 특징으로 한다.The pedal is provided with a footrest for restoring the foot of the patient, a foot fixing belt installed on the footrest to fix the foot of the patient, a belt mount installed on the side of the footrest, and is installed at the upper end of the belt mount Characterized in that comprises a leg fixing belt for fixing the legs.
상기 모니터링 시스템은 환자의 치료에 활용할 수 있도록 환자의 사용 이력을 입력 및 저장하며 상기 환자의 사용 이력을 디스플레이 또는 외부의 출력기기를 통하여 출력하는 것을 특징으로 한다.The monitoring system may input and store a history of use of the patient so as to utilize the treatment of the patient, and output the use history of the patient through a display or an external output device.
상기 하측프레임의 양측에 안전손잡이가 각각 설치되는 것을 특징으로 한다.Safety handles are installed on both sides of the lower frame, respectively.
이와 같이 이루어지는 본 발명에 의한 다리의 재활장치는 다리에 힘이 없거나 스스로 보행하기 힘들 정도로 다리가 불편한 환자를 고정한 뒤에 이를 세워서 동력으로 다리를 움직이게 하기 때문에 보행 훈련 시간동안 재활치료사의 적극적인 도움 없이도 스스로 보행 훈련할 수 있을 뿐만 아니라 환자 자신이 서서 걷는다는 느낌을 갖게 되어 보행 훈련을 용이하게 수행하게 되며, 모니터링 시스템의 디스플레이로 출력되는 화면을 통하여 가상 현실에서 길을 따라 앞으로 나아가는 것을 환자에게 시각적으로 보여주기 때문에 환자가 실제로 길을 걷고 있는 느낌을 갖게 하고, 환자의 사용 이력을 치료에 활용함으로써 육체적, 정신적 재활 치료를 효율적으로 수행할 수 있다는 이점이 있다.The rehabilitation device of the leg according to the present invention is thus self walking without the active help of the rehabilitation therapist during the gait training time because the leg is fixed and the patient is moved upright after fixing the patient who is inconvenient enough to walk on the leg. In addition to training, the patient himself feels standing and walking, which facilitates gait training, and visually shows the patient moving forward along the road in virtual reality through the screen displayed on the display of the monitoring system. Therefore, there is an advantage that the physical and mental rehabilitation treatment can be efficiently performed by making the patient feel like walking on the road and utilizing the patient's use history for the treatment.
도 1은 본 발명에 의한 다리의 재활훈련장치를 나타내는 사시도,1 is a perspective view showing a rehabilitation apparatus of the leg according to the present invention,
도 2 및 도 3은 본 발명에 의한 다리의 재활훈련장치를 나타내는 측단면도,2 and 3 is a side cross-sectional view showing a rehabilitation apparatus of the leg according to the present invention,
도 4는 본 발명에 의한 다리의 재활훈련장치의 페달의 다른 실시예를 보여주는 사시도.Figure 4 is a perspective view showing another embodiment of the pedal of the rehabilitation apparatus of the leg according to the present invention.
도 5는 본 발명에 의한 다리의 재활훈련장치에 적용되는 제어부를 나태는 구성도.5 is a block diagram showing a control unit applied to the rehabilitation apparatus of the leg according to the present invention.
<도면의 주요 부분에 대한 부호의 설명><Explanation of symbols for the main parts of the drawings>
1 : 하측프레임 2 : 상측프레임1: lower frame 2: upper frame
3 : 매트리스 4 : 벨트3: mattress 4: belt
5 : 회전프레임 6 : 신축실린더5: rotating frame 6: expansion cylinder
7 : 모터 8 : 페달7: motor 8: pedal
12 : 안전손잡이 13 : 모니터링 시스템12: safety handle 13: monitoring system
14 : 입력기14: input method
이하 본 발명의 바람직한 실시예를 첨부한 도면에 의거하여 더욱 상세하게 설명한다.Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings.
도 1 내지 도 3은 본 발명에 의한 다리의 재활훈련장치를 나타내는 도면으로서, 본 발명에 의한 다리의 재활훈련장치는 환자의 보행 재활훈련에 사용되는 것이다.1 to 3 is a view showing a leg rehabilitation apparatus according to the present invention, the leg rehabilitation apparatus according to the present invention is used for walking rehabilitation of the patient.
즉, 본 발명에 의한 다리의 재활훈련장치는 다리뿐만 아니라 상체도 불편한 환자를 세워서 환자 스스로가 서있다는 느낌을 갖게 하기 위하여, 하측프레임(1)의 위쪽에 상측프레임(2)이 이격 설치되되 상기 상측프레임(2)의 전단부는 상기 하측프레임(1)의 전단부보다는 후측에 위치하도록 설치되며, 환자를 눕히는 매트리스(3)와 환자를 고정하는 다수의 벨트(4)를 구비한 회전프레임(5)이 상기 상측프레임(2)과 힌지(5a)로 결합되어 상기 회전프레임(5)이 눕혔다가 세워졌다 할 수 있다.In other words, the rehabilitation apparatus of the leg according to the present invention is not only the legs but also the upper body in order to make the patient stand up, so that the patient is standing, the upper frame 2 is installed above the lower frame 1 is spaced apart from the upper side The front end of the frame (2) is installed to be located in the rear side than the front end of the lower frame (1), the rotating frame (5) having a mattress (3) lying down the patient and a plurality of belts (4) for fixing the patient The upper frame 2 and the hinge 5a are coupled to each other so that the rotating frame 5 is laid down and erected.
그리고 전체 길이가 신축되는 신축실린더(6)가 상기 상측프레임(2)과 회전프레임(5) 사이에 설치되어 있어 상기 회전프레임(5)이 신축실린더(6)에 의해 회전된다.And the expansion and contraction cylinder 6, the full length is installed between the upper frame 2 and the rotation frame 5, the rotation frame 5 is rotated by the expansion cylinder (6).
상기 신축실린더(6)은 유압실린더, 공압실린더, 전기 액추에이터 등을 사용할 수 있는 것이다.The expansion cylinder (6) can use a hydraulic cylinder, pneumatic cylinder, electric actuator and the like.
한편 본 발명에서는 환자가 실제로 걷고 있는 느낌을 가질 수 있도록 하기 위하여, 상기 하측프레임(1)의 앞 부분에 모터(7)의 동력에 의해 반복적으로 일정한 패턴으로 요동되는 두 개의 페달(8)을 설치하되, 상기 페달(8)의 선단부는 하측프레임(1)의 선단부 중앙에 세워진 디스플레이 설치부재(9)의 측면에 회전 가능하게 설치된 링크(10)의 하단부와 결합되며 상기 페달(8)의 후단부는 상기 모터(7)에 의해 회전되는 크랭크축(11)의 단부와 결합된다.Meanwhile, in the present invention, in order to allow the patient to have a feeling of actually walking, two pedals 8 which are repeatedly rocked in a constant pattern by the power of the motor 7 are installed in the front part of the lower frame 1. However, the front end of the pedal 8 is coupled to the lower end of the link 10 rotatably installed on the side of the display mounting member 9 erected in the center of the front end of the lower frame 1, and the rear end of the pedal 8 It is coupled with the end of the crankshaft (11) rotated by the motor (7).
그리고 상체의 힘으로 자신의 몸무게를 지탱할 수 있는 환자는 스스로 일어설 수 있도록 하기 위하여, 본 발명에서는 상기 하측프레임(1)의 양측에 안전손잡이(12)가 각각 세워져 설치된다.And in order to enable the patient who can support his or her weight by the force of the upper body, in the present invention, the safety handles 12 are installed on both sides of the lower frame 1, respectively.
한편, 본 발명에서는 환자가 육안으로 볼 수 있는 화면을 출력하는 디스플레이(13a)와 상기 디스플레이(13a)와 모터(7), 신축실린더(6)를 제어하는 제어기(13b)를 구비한 모니터링시스템(13)을 구비하고 있다.Meanwhile, in the present invention, a monitoring system having a display 13a for outputting a screen visible to the naked eye and a controller 13b for controlling the display 13a, the motor 7, and the expansion cylinder 6 ( 13).
상기 디스플레이(13a)는 상기 디스플레이 설치부재(9)의 상단부에 설치되며, 상기 제어기(13b)는 상기 디스플레이(13a), 모터(7) 및 신축실린더(6)와 연결되어 있다.The display 13a is installed at the upper end of the display mounting member 9, and the controller 13b is connected to the display 13a, the motor 7 and the expansion cylinder 6.
도 5에 도시한 바와 같이, 본 발명에서는 상기 디스플레이(13a)를 통하여 출력되는 화면으로 보행자가 길을 걸으면서 볼 수 있는 가상현실을 구현하는 신호를 출력하는 제어기(13b)가 상기 신축실린더(6)와 모터(7)와 연결되어 상기 신축실린더(6)와 모터(7)를 제어하게 된다.As shown in FIG. 5, in the present invention, the expansion cylinder 6 includes a controller 13b for outputting a signal for implementing a virtual reality that a pedestrian can see while walking on a screen output through the display 13a. ) And the motor 7 to control the expansion cylinder 6 and the motor (7).
그리고 상기 제어기(13b)는 환자의 사용 이력을 입력 및 저장하여 환자의 치료에 활용할 수 있도록 사용 이력을 디스플레이 또는 외부의 출력기기(미도시)를 통하여 출력할 수 있는 것이다.In addition, the controller 13b may output the usage history through a display or an external output device (not shown) so as to input and store the usage history of the patient to utilize the patient's treatment.
또한 상기 제어기(13b)에 신호를 보내는 입력기(14)가 제어기(13b)와 연결될 수 있으며, 이에 따라 상기 입력기(14)로 입력되는 신호에 의해 제어기(13b)로 하여금 신축실린더(6)의 작동, 모터(7)의 회전수를 조절할 수 있다.In addition, an input unit 14 which sends a signal to the controller 13b may be connected to the controller 13b, thereby causing the controller 13b to operate the expansion cylinder 6 by a signal input to the input unit 14. , The rotation speed of the motor 7 can be adjusted.
물론 상기 입력기(14)는 별도로 구성할 수 있으나, 상기 모티터링시스템(13)의 디스플레이(13a)에 터치스크린 방식으로 상기 제어기(13b)에 신호를 보낼 수 있음은 자명한 사실이다.Of course, the input unit 14 may be configured separately, but it is obvious that the display 13a of the monitoring system 13 may send a signal to the controller 13b in a touch screen manner.
그리고 상기 모니터링 시스템(13)의 제어기(13b)는 상기 모터(7)와 디스플레이(13a)에 입력되는 신호를 제어하여 상기 모터(7)의 회전수에 따라 상기 디스플레이(13a)를 통하여 출력되는 가상 현실을 속도를 변화시킨다.The controller 13b of the monitoring system 13 controls a signal input to the motor 7 and the display 13a and outputs the virtual signal output through the display 13a according to the rotation speed of the motor 7. It changes the speed of reality.
다시 말하면, 가상 현실을 구현하는 UGI(User Graphic Interface)를 통하여 보행훈련이 단순한 다리의 동작으로 끝나지 않고 환자로 하여금 실제로 보행하고 있다는 느낌을 주어 보다 효과적인 보행훈련이 되도록 하는 운동방식을 구현하게 되며, 환자의 눈높이에 디스플레이를 설치하는 것이 바람직하다.In other words, through the UGI (User Graphic Interface) that implements virtual reality, the walking training does not end with a simple leg movement but gives the patient the feeling that he is actually walking to implement a more effective walking training method. It is desirable to install the display at eye level of the patient.
가상 현실의 내용은 활영한 실사장면이 출력되도록 하여 모터에 의한 페달의 속도에 맞추어서 가상현실의 플레이 속도를 조정하는 것인 바, 환자가 천천히 걷는 보행 훈련을 할 때에는 화면이 천천히 돌아가도록 하여 실제로 환자가 천천히 걷는 느낌을 갖도록 하고, 환자가 빨리 보행 훈련을 할 때에는 화면이 빨리 돌아가도록 하여 실제로 환자가 빨리 걷는 느낌을 갖도록 한 것이다.The contents of the virtual reality is to output the actual running surface to adjust the play speed of the virtual reality in accordance with the speed of the pedals by the motor. The feeling of walking slowly, and when the patient walks fast training, the screen is rotated quickly so that the patient actually feels walking fast.
이러한 구조에서 환자가 외력에 의해 강제적으로 다리를 움직이기 때문에, 환자의 안전을 위하여 본 발명의 재활훈련장치를 정지해야 하는 경우가 발생할 수 있다.In this structure, since the patient forcibly moves the leg by external force, it may occur that the rehabilitation apparatus of the present invention has to be stopped for the safety of the patient.
따라서 본 발명에서는 환자의 심박수 또는 혈압을 측정하는 심박혈압계(15)가 상기 모니터링 시스템(13)의 제어기(13b)와 연결되는 구조로 구성하는 것도 포함한다.Therefore, the present invention also includes a configuration in which the heart rate monitor 15 for measuring the heart rate or blood pressure of the patient is connected to the controller 13b of the monitoring system 13.
그리하여, 상기 심박혈압계(15)로 측정된 심장박동수 또는 혈압에 따라 환자의 이상 증세를 신속하게 파악하여 위험한 상황이 발생되면 상기 제어기(13b)가 모터(7)의 작동을 멈추고 소리를 발생하는 부저(미도시) 또는 경고등(미도시)를 통하여 재활치료사 등에게 알릴 수 있는 것이다.Thus, the controller 13b stops the operation of the motor 7 and generates a sound when a dangerous situation occurs by quickly detecting an abnormal symptom of the patient according to the heart rate or blood pressure measured by the heart rate monitor 15. (Not shown) or a warning light (not shown) to inform the rehabilitation therapist.
한편, 다리가 마비된 환자의 경우에는 환자의 발바닥을 페달(8)에 올려놓더라도 페달(8)의 궤적에 따라 움직이기가 힘들기 때문에, 본 발명에서는 환자의 무릎 아래를 고정하기 위한 수단을 더욱 구비할 수 있다. 도 4에 도시한 바와 같이, 환자의 발을 올려놓게 되는 발판(8a)에 환자의 발을 고정하기 위한 발고정벨트(8b)를 구비하고, 상기 발판(8a)에 측면에 세워진 벨트설치대(8c)의 상단부에 환자의 무릎 아래를 고정하기 위한 다리고정벨트(8d)를 설치하여 환자의 발바닥이 발판(8a)에 올려진 상태를 안정적으로 유지하게 된다.On the other hand, in the case of a paralyzed patient, even if the sole of the patient is placed on the pedal 8, it is difficult to move according to the trajectory of the pedal 8, so in the present invention, a means for fixing below the knee of the patient is provided. It can be provided further. As shown in Fig. 4, the footrest belt 8b for fixing the foot of the patient is provided on the footrest 8a on which the foot of the patient is placed, and the belt mounting stand 8c standing on the side surface of the footrest 8a. By installing a leg fixing belt (8d) for fixing the bottom of the patient's knee at the upper end of the) to maintain the state of the patient's soles raised on the footrest (8a).
위와 같이 이루어지는 본 발명에 의한 다리의 재활훈련장치는 환자를 회전프레임(5)에 구비된 매트리스(3)에 눕히고, 벨트(4)를 이용하여 환자의 몸통을 고정한 뒤, 신축실린더(6)를 작동하여 도 2의 상태에서 도 3의 상태로 회전프레임(5)을 세우게 된다.Rehabilitation apparatus of the leg according to the present invention made as described above lay the patient on the mattress (3) provided in the rotating frame (5), and fixed the torso of the patient using the belt (4), the expansion cylinder (6) In operation, the rotary frame 5 is erected from the state of FIG. 2 to the state of FIG. 3.
이러한 상태에서 환자의 발바닥을 페달(8)의 발판(8a)에 각각 올려 놓고, 모터(7)를 구동하면서 모니터링 시스템(13)의 디스플레이(13a)로 화면을 출력하면, 환자는 자신의 다리가 움직이면서 디스플레이(13a)에서 출력되는 가상 현실에서 걷는 느낌을 가질 뿐만 아니라, 회전프레임(5)에 환자가 지지되어 서 있는 상태이므로 환자가 서서 걷는 느낌을 가질 수 있는 것이다.In this state, the sole of the patient is placed on the foot plate 8a of the pedal 8, and the screen is displayed on the display 13a of the monitoring system 13 while the motor 7 is driven. In addition to moving while having a feeling of walking in the virtual reality output from the display 13a, the patient is supported by the rotating frame 5 so that the patient can have a feeling of standing and walking.
상기와 같이 환자를 회전프레임(5)에 눕혀서 벨트(4)로 고정한 상태로 세우기 때문에, 서서 운동할 때에 발생되는 하중이 다리에 전달되는 것을 예방하여 안정적인 재활 훈련을 할 수 있다.Since the patient is lying on the rotary frame 5 and fixed in the state fixed by the belt 4 as described above, it is possible to prevent the transfer of the load generated during the standing exercise to the leg to perform a stable rehabilitation training.
또한, 상기 크랭크(11)과 링크(10) 사이에서 페달(8)이 타원 운동할 뿐만 아니라 환자의 발목을 회전시킬 수 있어 정상 보행에 가까운 패턴으로 보행 재활 훈련을 수행할 수 있으며, 특히 환자의 마비가 심하지 않거나 보행 능력에 따라 안전손잡이(12)를 이용하거나 벨트(4)의 고정 정도를 조정하여 환자의 다리에 저항력을 주어 능동-저항 운동 형태를 구현할 수도 있다.In addition, the pedal (8) between the crank (11) and the link (10) can not only elliptical movement, but also rotate the ankle of the patient can perform walking rehabilitation training in a pattern close to normal walking, in particular of the patient Paralysis may not be severe or the gait ability may be implemented by using the safety grip 12 or by adjusting the fixing degree of the belt 4 to give a resistance to the leg of the patient to implement an active-resistive exercise form.
더우기 환자의 상태가 자신의 의지대로 다리를 움직일 수 있을 때에는 모터의 동력원을 차단하여 환자 자신의 다리의 힘만으로 페달을 움직일 수도 있는 것이다.Moreover, when the patient's condition can move the legs at his will, he can shut off the motor's power source and move the pedals with the force of the patient's own legs.

Claims (6)

  1. 환자의 보행 재활에 사용되는 다리의 재활훈련장치에 있어서,In the leg rehabilitation apparatus used for walking rehabilitation of the patient,
    장치 전체를 지지하는 하측프레임과;A lower frame supporting the entire apparatus;
    상기 하측프레임의 위쪽에 이격 설치되는 상측프레임과;An upper frame spaced apart above the lower frame;
    환자를 눕히는 매트리스와 환자를 고정하는 다수의 벨트를 구비하며, 상기 상측프레임에 회전 가능하게 설치되는 회전프레임과;A rotating frame having a mattress lying down on the patient and a plurality of belts for fixing the patient, the rotating frame being rotatably installed on the upper frame;
    상기 상측프레임과 회전프레임를 연결하며, 상기 회전프레임을 회동시키는 신축실린더와;An expansion cylinder which connects the upper frame and the rotation frame and rotates the rotation frame;
    상기 하측프레임의 선단부 중앙에 설치되는 디스플레이 설치부재와;A display installation member installed at the center of the front end of the lower frame;
    전단부는 상기 디스플레이 설치부재의 측면에 회전 가능하게 설치된 링크의 하단부와 결합되며, 후단부는 모터에 연결되는 크랭크축의 단부와 결합되어, 반복적으로 왕복운동하는 두 개의 페달과;A front end coupled to a lower end of a link rotatably installed on a side of the display mounting member, and a rear end coupled to an end of a crankshaft connected to a motor, the two pedals repeatedly reciprocating;
    상기 디스플레이 설치부재의 상단부에 설치되며 화면을 출력하는 디스플레이와, 상기 모터, 신축실린더 및 디스플레이를 제어하는 제어기로 이루어지는 모니터링 시스템;A monitoring system installed at an upper end of the display mounting member and configured to display a screen and a controller to control the motor, the expansion cylinder, and the display;
    을 포함하여 구성되는 것을 특징으로 하는 다리의 재활훈련장치.Rehabilitation apparatus of the bridge, characterized in that comprising a.
  2. 제1항에 있어서,The method of claim 1,
    상기 제어기는 보행자가 길을 걸으면서 볼 수 있는 가상현실을 구현하는 영상신호를 상기 디스플레이를 통하여 화면으로 출력하고, 상기 모터와 디스플레이에 입력되는 신호를 제어하여 상기 모터의 회전수에 따라 상기 디스플레이를 통하여 가상 현실 영상의 속도를 변화시키는 것을 특징으로 하는 다리의 재활훈련장치.The controller outputs a video signal for implementing a virtual reality that a pedestrian can see while walking on a screen through the display, and controls the signals input to the motor and the display to control the display according to the rotation speed of the motor. Leg rehabilitation apparatus characterized in that for changing the speed of the virtual reality image through.
  3. 제1항에 있어서,The method of claim 1,
    상기 다리의 재활훈련장치에는 환자의 심박수 또는 혈압을 측정하는 심박혈압계가 더욱 구비되어 상기 모니터링 시스템의 제어기와 연결되는 것을 특징으로 하는 다리의 재활훈련장치.The rehabilitation apparatus of the leg is further provided with a heart rate monitor for measuring the heart rate or blood pressure of the patient rehabilitation apparatus of the leg, characterized in that connected to the controller of the monitoring system.
  4. 제1항에 있어서,The method of claim 1,
    상기 페달은 환자의 발을 안치시키는 발판과, 환자의 발을 고정하기 위해 상기 발판에 설치되는 발고정벨트와, 상기 발판의 측면에 설치되는 벨트설치대와, 상기 벨트설치대의 상단부에 설치되며 환자의 다리를 고정시키기 위한 다리고정벨트를 포함하여 구성되는 것을 특징으로 하는 다리의 재활훈련장치.The pedal is provided with a footrest for restoring the foot of the patient, a foot fixing belt installed on the footrest to fix the foot of the patient, a belt mount installed on the side of the footrest, and is installed at the upper end of the belt mount Rehabilitation apparatus of the leg, characterized in that it comprises a leg fixing belt for fixing the leg.
  5. 제1항에 있어서,The method of claim 1,
    상기 모니터링 시스템은 환자의 치료에 활용할 수 있도록 환자의 사용 이력을 입력 및 저장하며 상기 환자의 사용 이력을 디스플레이 또는 외부의 출력기기를 통하여 출력하는 것을 특징으로 하는 다리의 재활훈련장치.The monitoring system inputs and stores the use history of the patient to be utilized in the treatment of the patient and rehabilitation apparatus of the leg, characterized in that for outputting the use history of the patient through a display or an external output device.
  6. 제1항에 있어서,The method of claim 1,
    상기 하측프레임의 양측에 안전손잡이가 각각 설치되는 것을 특징으로 하는 다리의 재활훈련장치.Rehabilitation apparatus of the bridge, characterized in that the safety handles are installed on both sides of the lower frame, respectively.
PCT/KR2009/004381 2009-01-13 2009-08-05 Rehabilitation training apparatus for legs WO2010082719A1 (en)

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