WO2020128115A1 - Rehabilitation device for the lower extremities - Google Patents
Rehabilitation device for the lower extremities Download PDFInfo
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- WO2020128115A1 WO2020128115A1 PCT/ES2018/070818 ES2018070818W WO2020128115A1 WO 2020128115 A1 WO2020128115 A1 WO 2020128115A1 ES 2018070818 W ES2018070818 W ES 2018070818W WO 2020128115 A1 WO2020128115 A1 WO 2020128115A1
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- rehabilitation device
- lower extremities
- arms
- support
- user
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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
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
Definitions
- the present invention relates to a rehabilitation device for the lower extremities, in particular, a robotic rehabilitation device to facilitate functional rehabilitation of the lower extremities, for people with a serious motor disorder, whether caused by a stroke, pathologies congenital or acquired muscles, cerebral palsy, spinal injuries or other causes that require generating or accompanying movement to facilitate recovery.
- robotic systems are also very bulky and complex, making them difficult to apply in the home environment, posing even greater difficulties for young users.
- the former control the movement of each joint individually and the latter control the gait by guiding the periodic movement of each foot based on the gait pattern adapted to each user.
- an objective of the present invention is to provide a rehabilitation device for the lower extremities sufficiently simplified to achieve a lower volume and lower costs to be used in the domestic environment, or in local outpatient settings, and also usable for younger boys and girls affected by these pathologies.
- the lower limb rehabilitation device comprises a hanger for attaching a harness for a user of the rehabilitation device and support means for the user's feet, wherein said support means for the user's feet they comprise a pair of arms, each of which comprises at its front end a support for the feet, the arms being extendable and tilting, so that each foot support is longitudinally and vertically movable.
- said arms are connected to the device by means of a support at their rear end, preferably in a movable way to be able to conveniently adjust the distance between legs of the system.
- each foot support comprises a footrest that is hingedly mounted to the front end of each arm.
- said arms are crossbow-type chains formed by a plurality of links and, for example, said links are articulated together.
- each chain can be formed, for example, by modules with three overlapping links and articulated at their ends, in which two links are external and the third link is internal.
- the lower limb rehabilitation device also preferably comprises a treadmill, a support bar for the user's hands, and a monitor.
- the suspensor preferably comprises an articulated arm to vary the height of the harness, and said articulated arm comprises an actuator to actuate the movement of the articulated arm in a vertical plane.
- Said treadmill is preferably powered by a motor provided with a power controller for its synchronization with the movement of the foot supports, and said rear end of the arms is movable with respect to the support by a motor.
- the functional rehabilitation of the lower extremities is facilitated to people with a serious motor disorder, whether caused by a stroke, muscle pathologies congenital or acquired, cerebral palsy, spinal injuries or other causes that require generating or accompanying movement to facilitate recovery.
- the rehabilitation device of the present invention allows to provide a tool that facilitates standing, causing lost or reduced muscle activity due to some pathology.
- the present device allows the physical exercise to be accompanied without requiring physical effort on the part of a physical therapist, as well as obtaining objective data on the progress of each patient and being able to continue programming the most appropriate exercises for each patient and more accurately assess their evolution.
- a device for gait rehabilitation is achieved that is sufficiently simplified to achieve a smaller volume and lower costs to be used in the domestic environment, or in local outpatient settings, and also usable for younger boys and girls affected by these pathologies.
- Fig. 1 is a perspective view of the rehabilitation device according to the present invention.
- Figure 2 is a perspective view of one of the arms of the rehabilitation device according to the present invention, in an intermediate position;
- Figure 3 is a perspective view of one of the arms of the rehabilitation device according to the present invention, in an extended position
- Fig. 4 is a perspective view of one of the arms of the rehabilitation device according to the present invention, in a retracted position. Description of a preferred embodiment
- the rehabilitation device comprises a treadmill 100, two extendable and swinging arms 200 that support at one of its ends supports 220 for the user's feet, a suspender 300, a monitor 400 and a module for communication with a supervisor, who can have their own screen or use the user's own monitor 400, which is adjustable in height by means of supports 401.
- the treadmill 100 comprises a motor provided with a power controller in order to synchronize its speed with that of the advancement of the user's feet. Furthermore, the rehabilitation device also comprises a bar 101 for supporting the user's hands.
- the arms 200 are formed by a structure that is longitudinally deformable on the X axis 201, but rigid in the Y 202 and Z 203 axis directions, as can be seen in Figures 2 to 4.
- a crossbow-type structure composed of chains of modules with three overlapping links and articulated at their ends, in which two links are external 204 and a third is internal 205.
- the internal links 205 can be two articulated elements in their ends or can be merged into a single element.
- This structure made up of multiple modules with three links, being articulated at its ends, allows it to be extensible, so that in its extended position of maximum extension it reaches a length LA, while when retracted it reaches a length LB.
- These arms 200 are mounted on supports 206, which can be adapted by increasing or decreasing the distance between them manually or motorized, to adapt to each user. These arms 200 are motorized by means of an actuator that allows the angle a between the links 204, 205 of the leaf spring structure to be configured to modify their extension.
- Figure 2 shows a way of acting, although not exclusively, in which a motor 212 coupled to the arm 200 performs the linear displacement between the ends of a chain module 207 by means of an endless screw 208.
- the rehabilitation device of the present invention can also comprise an elongation sensor that allows its control by means of a power module of a control unit based on a microcomputer that allows calculating the position and orientation of each arm 200 to reproduce the movements of the March.
- the two arms 200 are coordinated with each other by means of the control unit to carry out the control of the march for each foot according to the established pattern for each exercise.
- Each support 220 for a user's foot is attached to the last link of the chain that forms the arm 200.
- This support 220 comprises a footrest 221 attached to the lower part of a rigid stem that in its upper part has a joint 222 that allows it to allows to tilt freely.
- a stress sensor can also be arranged to evaluate the weight of the patient supported by each stirrup during walking.
- This sensor can be, for example, an elastomer.
- Suspender 300 comprises an articulated arm 301 that allows the height of a suspension harness worn by the user to be adjusted to adapt to different users and to control the degree of compensation of the user's weight on the belt 100.
- This articulated arm 301 has an actuator 302 that allows its movement in the vertical plane, for example, by means of an endless screw.
- the device may comprise computer control means that they acquire the variables of all the articulated elements, the elevation of the suspensor 300, corresponding to the elongation and elevation sensors of the arms 200 and the belt speed sensor 100.
- the control means can also acquire data from an effort sensor corresponding to the patient's weight and from two stress sensors of the foot supports 220, as well as from pressure sensors located on the support bar 101 of the patient's hands. .
- the device can also comprise other sensors of presence, posture or state of the patient intended for a better perception of its evolution and control.
- the control of the device is carried out by means of power outputs for the control of the different motors, for example, extension and elevation motors for each arm, the belt motor and the patient suspension and elevation control motor.
- the control means also include inputs and outputs necessary for the control of the screen and other peripherals, as well as for Internet access to enable remote monitoring.
- the control means may also comprise a set of programs, for example, to define the gait pattern, consisting of the programming of a closed two-dimensional path from pre-established basic patterns.
- the supervisor will be able to edit these basic patterns to modify their characteristics and generate specific files according to each patient.
- the exercise edit screen is also used for patient management.
- the screen 400 allows the visualization of animated synthetic images corresponding to certain complementary games and synchronized with the exercises carried out by the patient to maintain attention and the spirit of improvement during the performance of the exercises.
- the movements made by the user through the arms 200 are visually followed by the supervisor through the specific monitor or through a status bar on the user's own monitor.
- This data can also be remotely supervised either through an application on a tablet or a mobile device, and if necessary remotely via the internet from a specialized assistance center.
Abstract
The invention relates to a rehabilitation device for the lower extremities comprising a suspension means (300) for attaching a harness for a user of the rehabilitation device and supporting means (200, 220) for the user's feet, wherein said supporting means for the user's feet comprise a pair of arms (200), each having a foot support (220) at the front end thereof, said arms (200) being extendable and pivoting, such that each foot support (220) can be moved longitudinally and vertically. This allows for a device for gait rehabilitation which is sufficiently simple to obtain a compact design and to produce it at lower cost to enable it to be used in a home environment, or in local outpatient clinics, as well as making it usable for young children affected by these pathologies.
Description
DISPOSITIVO DE REHABILITACIÓN PARA LAS EXTREMIDADES INFERIORES REHABILITATION DEVICE FOR THE LOWER LIMBS
DESCRIPCIÓN DESCRIPTION
La presente invención se refiere a un dispositivo de rehabilitación para las extremidades inferiores, en particular, a un dispositivo de rehabilitación robótico para facilitar la rehabilitación funcional de las extremidades inferiores, a personas con algún trastorno motor grave, ya sea producido por un ictus, patologías musculares congénitas o adquiridas, parálisis cerebral, lesiones medulares u otras causas que requieran generar o acompañar el movimiento para facilitar su recuperación. The present invention relates to a rehabilitation device for the lower extremities, in particular, a robotic rehabilitation device to facilitate functional rehabilitation of the lower extremities, for people with a serious motor disorder, whether caused by a stroke, pathologies congenital or acquired muscles, cerebral palsy, spinal injuries or other causes that require generating or accompanying movement to facilitate recovery.
Antecedentes de la invención Background of the Invention
Se conocen dispositivos de rehabilitación de las extremidades inferiores que reproducen el patrón de la marcha mediante sistemas robóticos en pacientes, que están actualmente limitados a los centros de rehabilitación, dado que estos sistemas son extremadamente costosos. Rehabilitation devices for the lower extremities are known that reproduce the gait pattern by robotic systems in patients, which are currently limited to rehabilitation centers, since these systems are extremely expensive.
Por otra parte, estos sistemas robóticos son también muy voluminosos y complejos, lo que les hace difícilmente aplicables en el entorno doméstico, planteando incluso mayores dificultades para usuarios de poca edad. Furthermore, these robotic systems are also very bulky and complex, making them difficult to apply in the home environment, posing even greater difficulties for young users.
En este campo existen equipos específicos para este tipo de rehabilitación, pero son de elevado coste y su diseño es muy poco orientado a los niños, aunque en algunos casos se especifica su aplicabilidad en este entorno. In this field, there are specific equipments for this type of rehabilitation, but they are high cost and their design is very little oriented to children, although in some cases their applicability in this environment is specified.
Existen estudios sobre el uso de sistemas robóticos en la marcha, pero mayoritariamente en adultos y en procesos agudos o subagudos. Algunos estudios demuestran que el uso de cintas rodantes mejora la velocidad de la marcha en pacientes con parálisis cerebral. Se ha demostrado también el beneficio del uso del sistema de marcha en suspensión en tapiz rodante en este mismo tipo de pacientes. There are studies on the use of robotic systems in gait, but mostly in adults and in acute or subacute processes. Some studies show that the use of treadmills improves walking speed in patients with cerebral palsy. The benefit of using the treadmill suspension gait system has also been demonstrated in these same types of patients.
En el mercado existen muchos más dispositivos para la rehabilitación de las extremidades superiores, dada su menor dificultad, al no tener que soportar el peso
del paciente y no tener que tratar los problemas de equilibrio. In the market there are many more devices for the rehabilitation of the upper extremities, given their lesser difficulty, as they do not have to bear the weight. of the patient and not having to deal with balance problems.
Existen dos tipos de equipos para la rehabilitación de las extremidades inferiores. Los equipos del primer tipo sujetan cada pierna del paciente mediante un exoesqueleto robótico que se ajusta a la cintura, muslo, pierna y pie del usuario, que es suspendido mediante un arnés por su tórax. There are two types of equipment for the rehabilitation of the lower extremities. Teams of the first type support each patient's leg using a robotic exoskeleton that adjusts to the user's waist, thigh, leg, and foot, which is suspended by a harness around their chest.
Otro tipo de dispositivos suspenden igualmente al paciente mediante un arnés por su tórax, y lo sujetan únicamente por la cintura para mantener la postura mientras que actúan sobre las piernas únicamente mediante la sujeción de los pies. En este segundo tipo, algunos se limitan a realizar un movimiento de pedaleo manteniendo la bipedestación. Other types of devices also suspend the patient by means of a harness through his chest, and hold him only at the waist to maintain posture while acting on the legs only by holding the feet. In this second type, some simply perform a pedaling movement while maintaining their standing.
Es decir, los primeros controlan el movimiento de cada articulación individualmente y los segundos controlan la marcha guiando el movimiento periódico de cada pie a partir del patrón de la marcha adaptado a cada usuario. In other words, the former control the movement of each joint individually and the latter control the gait by guiding the periodic movement of each foot based on the gait pattern adapted to each user.
Por lo tanto, un objetivo de la presente invención es proporcionar un dispositivo de rehabilitación para las extremidades inferiores suficientemente simplificado para conseguir un menor volumen y unos costes más reducidos para poder ser utilizado en el entorno doméstico, o en ambulatorios locales, y también utilizable para niños y niñas de menor edad afectos de estas patologías. Therefore, an objective of the present invention is to provide a rehabilitation device for the lower extremities sufficiently simplified to achieve a lower volume and lower costs to be used in the domestic environment, or in local outpatient settings, and also usable for younger boys and girls affected by these pathologies.
Descripción de la invención Description of the Invention
Con el dispositivo de rehabilitación para las extremidades inferiores de la invención se consiguen resolver los inconvenientes citados, presentando otras ventajas que se describirán a continuación. With the rehabilitation device for the lower extremities of the invention it is possible to solve the aforementioned drawbacks, presenting other advantages that will be described below.
El dispositivo de rehabilitación para las extremidades inferiores de acuerdo con la presente invención comprende un suspensor para colocar un arnés para un usuario del dispositivo de rehabilitación y medios de soporte para los pies del usuario, en el que dichos medios de soporte para los pies del usuario comprenden un par de brazos, cada uno de los cuales comprende en su extremo anterior un soporte para
los pies, siendo los brazos extensibles y basculantes, de manera que cada soporte para los pies es desplazable longitudinalmente y verticalmente. The lower limb rehabilitation device according to the present invention comprises a hanger for attaching a harness for a user of the rehabilitation device and support means for the user's feet, wherein said support means for the user's feet they comprise a pair of arms, each of which comprises at its front end a support for the feet, the arms being extendable and tilting, so that each foot support is longitudinally and vertically movable.
Ventajosamente, dichos brazos están unidos al dispositivo mediante un soporte en su extremo posterior, preferentemente de manera desplazable para poder ajustar convenientemente la distancia entre piernas del sistema. Advantageously, said arms are connected to the device by means of a support at their rear end, preferably in a movable way to be able to conveniently adjust the distance between legs of the system.
Además, preferentemente cada soporte para los pies comprende un reposapiés que está montado articulado al extremo anterior de cada brazo. Furthermore, preferably each foot support comprises a footrest that is hingedly mounted to the front end of each arm.
De acuerdo con una realización preferida, dichos brazos son cadenas de tipo ballesta formadas por una pluralidad de eslabones y, por ejemplo, dichos eslabones están montados articulados entre sí. According to a preferred embodiment, said arms are crossbow-type chains formed by a plurality of links and, for example, said links are articulated together.
En particular, cada cadena puede estar formada, por ejemplo, por módulos de tres eslabones solapados y articulados en sus extremos, en que dos eslabones son externos y el tercer eslabón es interno. In particular, each chain can be formed, for example, by modules with three overlapping links and articulated at their ends, in which two links are external and the third link is internal.
El dispositivo de rehabilitación para las extremidades inferiores de acuerdo con la presente invención también comprende preferentemente una cinta rodante, una barra de apoyo para las manos del usuario, y un monitor. The lower limb rehabilitation device according to the present invention also preferably comprises a treadmill, a support bar for the user's hands, and a monitor.
Además, el suspensor comprende preferentemente un brazo articulado para variar la altura del arnés, y dicho brazo articulado comprende un actuador para accionar el movimiento del brazo articulado en un plano vertical. Furthermore, the suspensor preferably comprises an articulated arm to vary the height of the harness, and said articulated arm comprises an actuator to actuate the movement of the articulated arm in a vertical plane.
Dicha cinta rodante preferiblemente es accionada por un motor provisto de un controlador de potencia para su sincronización con el movimiento de los soportes para los pies, y dicho extremo posterior de los brazos es desplazable respecto al soporte mediante un motor. Said treadmill is preferably powered by a motor provided with a power controller for its synchronization with the movement of the foot supports, and said rear end of the arms is movable with respect to the support by a motor.
Con el dispositivo de rehabilitación de acuerdo con la presente invención se facilita la rehabilitación funcional de las extremidades inferiores a personas con algún trastorno motor grave, ya sea producido por un ictus, patologías musculares
congénitas o adquiridas, parálisis cerebral, lesiones medulares u otras causas que requieran generar o acompañar el movimiento para facilitar su recuperación. With the rehabilitation device according to the present invention, the functional rehabilitation of the lower extremities is facilitated to people with a serious motor disorder, whether caused by a stroke, muscle pathologies congenital or acquired, cerebral palsy, spinal injuries or other causes that require generating or accompanying movement to facilitate recovery.
Además, el dispositivo de rehabilitación de la presente invención permite proporcionar una herramienta que facilita la bipedestación, provocando la actividad muscular perdida o reducida por alguna patología. Por otra parte, el presente dispositivo permite acompañar el ejercicio físico sin requerir esfuerzos físicos por parte de un fisioterapeuta, así como obtener datos objetivos del progreso de cada paciente y poder seguir programando los ejercicios más adecuados a cada paciente y evaluar de forma más precisa su evolución. Furthermore, the rehabilitation device of the present invention allows to provide a tool that facilitates standing, causing lost or reduced muscle activity due to some pathology. On the other hand, the present device allows the physical exercise to be accompanied without requiring physical effort on the part of a physical therapist, as well as obtaining objective data on the progress of each patient and being able to continue programming the most appropriate exercises for each patient and more accurately assess their evolution.
Con el dispositivo de rehabilitación de acuerdo con la presente invención se consigue un dispositivo para la rehabilitación de la marcha que es suficientemente simplificado para conseguir un menor volumen y unos costes más reducidos para poder ser utilizado en el entorno doméstico, o en ambulatorios locales, y también utilizable para niños y niñas de menor edad afectos de estas patologías. With the rehabilitation device according to the present invention, a device for gait rehabilitation is achieved that is sufficiently simplified to achieve a smaller volume and lower costs to be used in the domestic environment, or in local outpatient settings, and also usable for younger boys and girls affected by these pathologies.
Breve descripción de los dibujos Brief description of the drawings
Para mejor comprensión de cuanto se ha expuesto, se acompañan unos dibujos en los que, esquemáticamente y tan sólo a título de ejemplo no limitativo, se representa un caso práctico de realización. For a better understanding of what has been stated, some drawings are attached in which, schematically and only by way of non-limiting example, a practical case of embodiment is represented.
La figura 1 es una vista en perspectiva del dispositivo de rehabilitación de acuerdo con la presente invención; Fig. 1 is a perspective view of the rehabilitation device according to the present invention;
La figura 2 es una vista en perspectiva del uno de los brazos del dispositivo de rehabilitación de acuerdo con la presente invención, en una posición intermedia; Figure 2 is a perspective view of one of the arms of the rehabilitation device according to the present invention, in an intermediate position;
La figura 3 es una vista en perspectiva del uno de los brazos del dispositivo de rehabilitación de acuerdo con la presente invención, en una posición extendida; y Figure 3 is a perspective view of one of the arms of the rehabilitation device according to the present invention, in an extended position; and
La figura 4 es una vista en perspectiva del uno de los brazos del dispositivo de rehabilitación de acuerdo con la presente invención, en una posición replegada.
Descripción de una realización preferida Fig. 4 is a perspective view of one of the arms of the rehabilitation device according to the present invention, in a retracted position. Description of a preferred embodiment
De acuerdo con la realización mostrada en las figuras, el dispositivo de rehabilitación de acuerdo con la presente invención comprende una cinta rodante 100, dos brazos extensibles y basculantes 200 que sustentan en uno de sus extremos unos soportes 220 para los pies del usuario, un suspensor 300, un monitor 400 y un módulo de comunicación con un supervisor, que puede disponer de una pantalla propia o utilizar el propio monitor 400 del usuario, que es regulable en altura mediante los soportes 401. In accordance with the embodiment shown in the figures, the rehabilitation device according to the present invention comprises a treadmill 100, two extendable and swinging arms 200 that support at one of its ends supports 220 for the user's feet, a suspender 300, a monitor 400 and a module for communication with a supervisor, who can have their own screen or use the user's own monitor 400, which is adjustable in height by means of supports 401.
La cinta rodante 100 comprende un motor provisto de un controlador de potencia para poder sincronizar su velocidad con la del avance de los pies del usuario. Además, el dispositivo de rehabilitación también comprende una barra 101 para el apoyo de las manos del usuario. The treadmill 100 comprises a motor provided with a power controller in order to synchronize its speed with that of the advancement of the user's feet. Furthermore, the rehabilitation device also comprises a bar 101 for supporting the user's hands.
Para poder minimizar su volumen, los brazos 200 están formados por una estructura deformable longitudinalmente en el eje X 201 , pero rígida en los sentidos de los ejes Y 202 y Z 203, tal como se puede ver en las figuras 2 a 4. In order to minimize its volume, the arms 200 are formed by a structure that is longitudinally deformable on the X axis 201, but rigid in the Y 202 and Z 203 axis directions, as can be seen in Figures 2 to 4.
Para ello, se utiliza una estructura de tipo ballesta compuesta de cadenas de módulos de tres eslabones solapados y articulados en sus extremos, en que dos eslabones son externos 204 y un tercero es interno 205. Los eslabones internos 205 pueden ser dos elementos articulados en sus extremos o pueden estar fusionados en un único elemento. For this, a crossbow-type structure is used, composed of chains of modules with three overlapping links and articulated at their ends, in which two links are external 204 and a third is internal 205. The internal links 205 can be two articulated elements in their ends or can be merged into a single element.
Esta estructura compuesta por múltiples módulos de tres eslabones, al estar articulada por sus extremos, permite ser extensible, de forma que en su posición extendida de máxima extensión alcanza una longitud LA, mientras que replegada alcanza una longitud LB. This structure, made up of multiple modules with three links, being articulated at its ends, allows it to be extensible, so that in its extended position of maximum extension it reaches a length LA, while when retracted it reaches a length LB.
Estos brazos 200 están montados sobre unos soportes 206, que pueden adaptarse aumentando o disminuyendo la distancia entre los mismos de forma manual o motorizada, para adaptarse a cada usuario.
Estos brazos 200 están motorizados mediante un actuador que permite configurar el ángulo a entre los eslabones 204, 205 de la estructura de ballesta para modificar su extensión. These arms 200 are mounted on supports 206, which can be adapted by increasing or decreasing the distance between them manually or motorized, to adapt to each user. These arms 200 are motorized by means of an actuator that allows the angle a between the links 204, 205 of the leaf spring structure to be configured to modify their extension.
En la figura 2 se muestra una forma de actuación, aunque no de forma exclusiva, en la que un motor 212 acoplado al brazo 200 efectúa el desplazamiento lineal entre extremos de un módulo de cadena 207 mediante un husillo sin fin 208. Figure 2 shows a way of acting, although not exclusively, in which a motor 212 coupled to the arm 200 performs the linear displacement between the ends of a chain module 207 by means of an endless screw 208.
El dispositivo de rehabilitación de la presente invención también puede comprender un sensor de elongación que permite su control mediante un módulo de potencia de una unidad de control basada en un microcomputador que permite calcular la posición y la orientación de cada brazo 200 para reproducir los movimientos de la marcha. The rehabilitation device of the present invention can also comprise an elongation sensor that allows its control by means of a power module of a control unit based on a microcomputer that allows calculating the position and orientation of each arm 200 to reproduce the movements of the March.
Los dos brazos 200 están coordinados entre sí mediante la unidad de control para efectuar el control de la marcha para cada pie acorde con el patrón establecido para cada ejercicio. The two arms 200 are coordinated with each other by means of the control unit to carry out the control of the march for each foot according to the established pattern for each exercise.
Cada soporte 220 para un pie del usuario está sujeto al último eslabón de la cadena que forma el brazo 200. Este soporte 220 comprende un reposapiés 221 sujeto a la parte inferior de un vástago rígido que en su parte superior dispone de una articulación 222 que le permite bascular libremente. En esta articulación 222 también se puede disponer un sensor de esfuerzos para evaluar el peso del paciente soportado por cada estribo durante la marcha. Este sensor puede ser, por ejemplo, un elastómero. Each support 220 for a user's foot is attached to the last link of the chain that forms the arm 200. This support 220 comprises a footrest 221 attached to the lower part of a rigid stem that in its upper part has a joint 222 that allows it to allows to tilt freely. In this joint 222 a stress sensor can also be arranged to evaluate the weight of the patient supported by each stirrup during walking. This sensor can be, for example, an elastomer.
El suspensor 300 comprende un brazo articulado 301 que permite conseguir variar la altura de un arnés de suspensión llevado por el usuario para adaptarse a los diferentes usuarios y controlar el grado de compensación del peso del usuario sobre la cinta 100. Este brazo articulado 301 dispone de un actuador 302 que permite su movimiento en el plano vertical, por ejemplo, mediante un husillo sin fin. Suspender 300 comprises an articulated arm 301 that allows the height of a suspension harness worn by the user to be adjusted to adapt to different users and to control the degree of compensation of the user's weight on the belt 100. This articulated arm 301 has an actuator 302 that allows its movement in the vertical plane, for example, by means of an endless screw.
Para su control, el dispositivo puede comprender medios de control informáticos que
adquieren las variables de todos los elementos articulados, la elevación del suspensor 300, correspondientes a los sensores de elongación y elevación de los brazos 200 y el sensor de velocidad de la cinta 100. For its control, the device may comprise computer control means that they acquire the variables of all the articulated elements, the elevation of the suspensor 300, corresponding to the elongation and elevation sensors of the arms 200 and the belt speed sensor 100.
Los medios de control también pueden adquirir datos desde un sensor de esfuerzo correspondiente al peso del paciente y de dos sensores de esfuerzos de los soportes para los pies 220, así como de sensores de presión situados en la barra de apoyo 101 de las manos del paciente. The control means can also acquire data from an effort sensor corresponding to the patient's weight and from two stress sensors of the foot supports 220, as well as from pressure sensors located on the support bar 101 of the patient's hands. .
El dispositivo también puede comprender otros sensores de presencia, postura o estado del paciente destinados a una mejor percepción de su evolución y control. The device can also comprise other sensors of presence, posture or state of the patient intended for a better perception of its evolution and control.
El control del dispositivo se realiza mediante salidas de potencia para el control de los diferentes motores, por ejemplo, motores de extensión y elevación de cada brazo, el motor de la cinta y el motor de control de suspensión y elevación del paciente. The control of the device is carried out by means of power outputs for the control of the different motors, for example, extension and elevation motors for each arm, the belt motor and the patient suspension and elevation control motor.
Los medios de control comprenden igualmente entradas y salidas necesarias para el control de la pantalla y otros periféricos, así como para el acceso a Internet para poder efectuar una supervisión remota. The control means also include inputs and outputs necessary for the control of the screen and other peripherals, as well as for Internet access to enable remote monitoring.
Los medios de control también pueden comprender un conjunto de programas para, por ejemplo, definir el patrón de la marcha, consistente en la programación de una trayectoria bidimensional cerrada a partir de unos patrones básicos preestablecidos. The control means may also comprise a set of programs, for example, to define the gait pattern, consisting of the programming of a closed two-dimensional path from pre-established basic patterns.
El supervisor podrá editar estos patrones básicos para modificar sus características y generar archivos específicos acordes a cada paciente. La pantalla de edición de los ejercicios también se utiliza para la gestión de pacientes. The supervisor will be able to edit these basic patterns to modify their characteristics and generate specific files according to each patient. The exercise edit screen is also used for patient management.
Además, la pantalla 400, u otra pantalla específica, permite visualizar imágenes sintéticas animadas correspondientes a determinados juegos complementarios y sincronizados con los ejercicios realizados por el paciente para mantener la atención y el espíritu de superación durante la realización de los ejercicios. In addition, the screen 400, or another specific screen, allows the visualization of animated synthetic images corresponding to certain complementary games and synchronized with the exercises carried out by the patient to maintain attention and the spirit of improvement during the performance of the exercises.
Por ejemplo, se pueden emular juegos de pelotas, de estrategias de persecución o
evasión de un avatar, u otros retos. Los movimientos realizados por el usuario mediante los brazos 200 son seguidos visualmente por el supervisor mediante el monitor específico o mediante una barra de estado en el monitor del propio usuario. Estos datos pueden ser también supervisados remotamente ya sea a través de una aplicación sobre una tableta o un dispositivo móvil, y si es necesario remotamente mediante internet desde un centro de asistencia especializado. For example, you can emulate ball games, chase strategies or evasion of an avatar, or other challenges. The movements made by the user through the arms 200 are visually followed by the supervisor through the specific monitor or through a status bar on the user's own monitor. This data can also be remotely supervised either through an application on a tablet or a mobile device, and if necessary remotely via the internet from a specialized assistance center.
A través de los resultados conseguidos con estos juegos y la medición de parámetros cinemáticos y de la carga soportada por los brazos robóticos se pueden elaborar criterios objetivos de seguimiento y grado de mejora del paciente. Through the results obtained with these games and the measurement of kinematic parameters and the load supported by the robotic arms, objective criteria for monitoring and degree of patient improvement can be developed.
A pesar de que se ha hecho referencia a una realización concreta de la invención, es evidente para un experto en la materia que el dispositivo de rehabilitación para las extremidades inferiores descrito es susceptible de numerosas variaciones y modificaciones, y que todos los detalles mencionados pueden ser sustituidos por otros técnicamente equivalentes, sin apartarse del ámbito de protección definido por las reivindicaciones adjuntas.
Despite the fact that a specific embodiment of the invention has been referred to, it is evident to a person skilled in the art that the described lower limb rehabilitation device is susceptible to numerous variations and modifications, and that all the mentioned details can be replaced by other technically equivalent, without departing from the scope of protection defined by the attached claims.
Claims
1. Dispositivo de rehabilitación para las extremidades inferiores, que comprende un suspensor (300) para colocar un arnés para un usuario del dispositivo de rehabilitación y medios de soporte (200, 220) para los pies del usuario, caracterizado por que dichos medios de soporte para los pies del usuario comprenden un par de brazos (200), cada uno de los cuales comprende en su extremo anterior un soporte para los pies (220), siendo los brazos (200) extensibles y basculantes, de manera que cada soporte para los pies (220) es desplazable longitudinalmente y vertical mente. 1. Rehabilitation device for the lower extremities, comprising a suspender (300) for attaching a harness for a user of the rehabilitation device and support means (200, 220) for the user's feet, characterized in that said support means for the user's feet they comprise a pair of arms (200), each of which comprises at its front end a support for the feet (220), the arms (200) being extendable and tiltable, so that each support for the feet (220) is longitudinally and vertically movable.
2. Dispositivo de rehabilitación para las extremidades inferiores de acuerdo con la reivindicación 1 , en el que dichos brazos (200) están unidos al dispositivo mediante un soporte (206) en su extremo posterior. 2. Rehabilitation device for the lower extremities according to claim 1, wherein said arms (200) are attached to the device by means of a support (206) at its rear end.
3. Dispositivo de rehabilitación para las extremidades inferiores de acuerdo con la reivindicación 2, en el que dicho extremo posterior de los brazos (200) está unido a dicho soporte (206) de manera desplazable. 3. Rehabilitation device for the lower extremities according to claim 2, wherein said rear end of the arms (200) is movably attached to said support (206).
4. Dispositivo de rehabilitación para las extremidades inferiores de acuerdo con la reivindicación 1 , en el que cada soporte para los pies (220) comprende un reposapiés (221) que está montado articulado al extremo anterior de cada brazo (200). 4. Lower limb rehabilitation device according to claim 1, wherein each foot support (220) comprises a footrest (221) that is hingedly mounted to the front end of each arm (200).
5. Dispositivo de rehabilitación para las extremidades inferiores de acuerdo con la reivindicación 1 , en el que dichos brazos (200) son cadenas de tipo ballesta formadas por una pluralidad de eslabones (204, 205). 5. Rehabilitation device for the lower extremities according to claim 1, wherein said arms (200) are crossbow-type chains formed by a plurality of links (204, 205).
6. Dispositivo de rehabilitación para las extremidades inferiores de acuerdo con la reivindicación 5, en el que dichos eslabones (204, 205) están montados articulados entre sí. 6. Rehabilitation device for the lower extremities according to claim 5, wherein said links (204, 205) are mounted hinged to each other.
7. Dispositivo de rehabilitación para las extremidades inferiores de acuerdo con la reivindicación 5 o 6, en el que cada cadena está formada por módulos de tres eslabones (204, 205) solapados y articulados en sus extremos, en que dos eslabones
(204) son externos y el tercer eslabón (205) es interno. Rehabilitation device for the lower extremities according to claim 5 or 6, in which each chain is made up of three-link modules (204, 205) overlapping and articulated at their ends, in which two links (204) are external and the third link (205) is internal.
8. Dispositivo de rehabilitación para las extremidades inferiores de acuerdo con la reivindicación 1 , que también comprende una cinta rodante (100). 8. Rehabilitation device for the lower extremities according to claim 1, which also comprises a treadmill (100).
9. Dispositivo de rehabilitación para las extremidades inferiores de acuerdo con la reivindicación 1 , que también comprende una barra de apoyo (101) para las manos del usuario. 9. Rehabilitation device for the lower extremities according to claim 1, which also comprises a support bar (101) for the user's hands.
10. Dispositivo de rehabilitación para las extremidades inferiores de acuerdo con la reivindicación 1 , que también comprende un monitor (400). 10. Rehabilitation device for the lower extremities according to claim 1, which also comprises a monitor (400).
1 1. Dispositivo de rehabilitación para las extremidades inferiores de acuerdo con la reivindicación 1 , en el que el suspensor (300) comprende un brazo articulado (301) para variar la altura del arnés. 1 1. Rehabilitation device for the lower extremities according to claim 1, wherein the suspender (300) comprises an articulated arm (301) to vary the height of the harness.
12. Dispositivo de rehabilitación para las extremidades inferiores de acuerdo con la reivindicación 1 1 , en el que dicho brazo articulado (301) comprende un actuador (302) para accionar el movimiento del brazo articulado (301) en un plano vertical. 12. Rehabilitation device for the lower extremities according to claim 1 1, wherein said articulated arm (301) comprises an actuator (302) to drive the movement of the articulated arm (301) in a vertical plane.
13. Dispositivo de rehabilitación para las extremidades inferiores de acuerdo con la reivindicación 8, en el que dicha cinta rodante (100) es accionada por un motor provisto de un controlador de potencia para su sincronización con el movimiento de los soportes para los pies (220). 13. Lower limb rehabilitation device according to claim 8, wherein said treadmill (100) is powered by a motor provided with a power controller for synchronization with the movement of the foot supports (220 ).
14. Dispositivo de rehabilitación para las extremidades inferiores de acuerdo con la reivindicación 3, en el que dicho extremo posterior de los brazos (200) es desplazable transversalmente respecto a su soporte (206) mediante una manivela o un motor.
14. Rehabilitation device for the lower extremities according to claim 3, wherein said rear end of the arms (200) is transversely movable with respect to its support (206) by means of a crank or a motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/ES2018/070818 WO2020128115A1 (en) | 2018-12-19 | 2018-12-19 | Rehabilitation device for the lower extremities |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/ES2018/070818 WO2020128115A1 (en) | 2018-12-19 | 2018-12-19 | Rehabilitation device for the lower extremities |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2020128115A1 true WO2020128115A1 (en) | 2020-06-25 |
Family
ID=71100239
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/ES2018/070818 WO2020128115A1 (en) | 2018-12-19 | 2018-12-19 | Rehabilitation device for the lower extremities |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2020128115A1 (en) |
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