WO2020133431A1

WO2020133431A1 - Virtual reality-based limb rehabilitation training system

Info

Publication number: WO2020133431A1
Application number: PCT/CN2018/125670
Authority: WO
Inventors: 王兆坤; 王俊华
Original assignee: 广州晓康医疗科技有限公司
Priority date: 2018-12-26
Filing date: 2018-12-29
Publication date: 2020-07-02
Also published as: CN109663302A

Abstract

A virtual reality-based limb rehabilitation training system, which is at least provided thereon with an upper limb rehabilitation training platform, a foot operation device (3) and a virtual reality system (4). The upper limb rehabilitation training platform comprises an upper limb operation device (1) and a support frame (2). The upper limb operation device (1) comprises a plane rotational motion device (11), a first locking structure, a damper, a first sensor, a vertical swing motion device (12), a second locking structure, and a second sensor. By means of a control system, it may be very convenient to complete the locking or positioning of plane rotational motion and vertical swing motion mechanisms, thereby achieving different motion training modes for the upper limbs. The lower limbs may cooperate with the coordinated movement of the upper limbs. In addition, different resistances may be set for the plane rotational motion of the upper limbs by means of an electric damper, and limb rehabilitation training provided by the limb rehabilitation training system may interact with a virtual training scene by means of sensors.

Description

Limb rehabilitation training system based on virtual reality

Technical field

The invention relates to the technical field of helping paralyzed patients recover limb movement function in rehabilitation medical equipment, in particular to a limb rehabilitation training system based on virtual reality.

Background technique

The main symptom of patients with stroke, brain trauma and spinal cord injury is limb paralysis, which requires active rehabilitation to restore its function. Traditional rehabilitation methods, especially in upper limb rehabilitation, are often unsatisfactory.

With the advancement of technology, the upper limb rehabilitation equipment currently on the market are upper limb movement feedback rehabilitation treatment system and upper limb rehabilitation training robot, but all have their disadvantages:

1. The upper limb motion feedback rehabilitation treatment system is only suitable for paralyzed patients with upper limbs with certain exercise ability. If the upper limbs of the paralyzed patients cannot move, the device cannot be used; and the device only trains the affected upper limbs, and other limbs cannot be trained.

2. The upper limb rehabilitation training robot is assisted by machines and belongs to passive rehabilitation. It cannot reflect the rehabilitation technology development concept of active rehabilitation;

3. The upper limb movement feedback rehabilitation treatment system and the upper limb rehabilitation training robot are both simple game-level virtual reality, with no sense of intrusion.

Summary of the invention

In view of the shortcomings of the prior art, the present invention aims to provide a limb rehabilitation training device and its virtual reality training system. By having an upper limb operating device with dual handles, it can help the patient to complete the rotary motion on the plane or help the patient to take the initiative Complete the vertical swing movement, and achieve different upper limb movement training modes by different locking or positioning of the rotation mechanism and swing mechanism; the double foot pedal and sensor design can coordinate upper limb movement while ankle rehabilitation training; further , Through the combination of virtual reality training system, to create a virtual training environment to increase patients' interest in rehabilitation training.

In order to achieve the above objectives, the technical solutions adopted by the present invention are as follows:

A limb rehabilitation training device, at least provided with an upper limb rehabilitation training platform, a foot operation device and a virtual reality system, the upper limb rehabilitation training platform includes an upper limb operation device and a support frame; wherein, the upper limb operation device includes a plane rotation motion device , A first locking structure, a damper, a first sensor and a vertical swing motion device, a second locking structure, a second sensor, the first locking structure, the damper, the first sensor rotate with the plane respectively The motion device is movably connected; the second locking structure and the second sensor are movably connected to the vertical swing motion device, one end of the support frame is movably connected to the upper limb operation device, and the other end is connected to the front end of the base; The chair is arranged at the rear end of the base.

It should be noted that the foot operating device is movably set or fixedly arranged in the middle of the base, and the movable setting includes a foot pedal device, a slide rail and a push rod, the foot pedal device can move forward and backward relative to the base, and the foot pedal And the foot sensor can rotate up and down relative to its rotation axis, the foot sensor is fixedly connected with the foot pedal,

It should be noted that the rotation mechanism of the planar rotary motion device includes an upper limb support plane, a rotating disk, a limit swivel seat, a fixed seat, a rotation shaft, an operating handle, and a first locking structure. The upper limb support plane is provided with a cavity. The rotating disk is movably disposed in the cavity, the fixed seat is located below the rotating disk, the limit rotating seat is disposed between the rotating disk and the fixed seat, and the rotating shaft is threaded The fixed seat, the limit swivel seat, and the top of which is fixedly connected to the bottom of the rotating disk; the first locking structure is an electric structure or a manual structure; the operation handles are paired and vertically arranged on the Rotate the surface of the disc.

It should be noted that the electric locking structure is an electronic tension device; wherein, the electronic tension device is used to set different resistances for the active movement of the upper limb plane rotation to provide resistance training functions.

It should be noted that the vertical swing motion device includes a pneumatic spring, a fixing frame and a second locking structure, the fixing frame is provided on top of one end of the support frame, one end of the pneumatic spring is hinged with the fixing frame, and the other One end is connected with the fixing seat, and the second locking structure is an electric structure or a manual structure.

It should be noted that the foot operating device is movably arranged in the base frame cavity, and its slideway is fixed on the bottom plate in the middle of the base, the footrest device is movably arranged on the slideway, and one end of the push rod is fixed on the bottom plate of the base, and One end is connected to the foot pedal device, and the foot operation device may also be fixedly arranged in the middle of the base.

It should be noted that the foot pedal device includes a foot pedal, a rotating shaft, a bearing housing and a torsion spring, the bearing housing is disposed in the cavity, the rotating shaft is disposed in the bearing housing, and the foot The pedals are provided in pairs and fixedly connected to the rotating shaft, one end of the torsion spring is connected to the bottom of the foot pedal, and the other end is connected to the surface of the cavity.

It should be noted that the support frame corresponding to the fixed foot operation device is a telescopic structure, and the support frame is 2 sections, which is telescopic through a slideway and a push rod; the foot operation device corresponding to the movable setting, the support frame It is a fixed-length structure.

It should be noted that the limb rehabilitation training equipment mainly includes three parts, that is, the middle part is the upper limb rehabilitation training platform and its supporting frame, the foot operating device, the front part is the display screen and its bracket, and the rear part is the seat structure. These three parts can be set separately or in combination of two; the seat includes a training chair body, a support rod and a chair base, one end of the support rod is connected to the chair base, and the other end is connected to the bottom of the training chair body .

As another embodiment of the present invention:

A virtual reality training system used for limb rehabilitation training equipment includes an upper limb rehabilitation training platform and a rehabilitation training chair. The virtual reality training system includes a control unit, a display unit and a sensor. The control unit is connected to the display unit and the The sensor is electrically connected, and the sensor is distributed on the upper limb operation device and the foot operation device

It should be noted that the display unit may be a display. Further, in order to enhance the effect, a splicing screen may be used for display.

The beneficial effect of the present invention is that the control system is very convenient to complete the mechanism locking or positioning of the plane rotation motion and the vertical swing motion, thereby achieving different exercise training modes of the upper limb; the lower limb can cooperate with the coordinated movement of the upper limb; in addition, through the electric damper Different resistances can be set for the upper limb rotation. The limb rehabilitation training provided by the invention interacts with the virtual training scene through sensors.

BRIEF DESCRIPTION

1 is a schematic structural diagram of an upper limb rehabilitation training platform of the present invention;

2 is a schematic structural view of the vertical swing motion device in FIG. 1;

FIG. 3 is a schematic structural view of the inventive upper limb rehabilitation training platform, rehabilitation training chair and virtual reality rehabilitation training system used in conjunction.

detailed description

The present invention will be further described below with reference to the drawings. It should be noted that this embodiment is based on the technical solution and provides detailed implementation and specific operation procedures, but the scope of protection of the present invention is not limited to this. Examples.

As shown in FIGS. 1 and 3, the present invention is a limb rehabilitation training device, which is provided with at least an upper limb rehabilitation training platform, a foot operating device 3 and a virtual reality system 4. The upper limb rehabilitation training platform includes an upper limb operating device 1 and a support frame 2; wherein, the upper limb operating device 1 includes a planar rotary motion device 11, a first locking structure, a damper, a first sensor and a vertical swing motion device, a second locking structure, a second sensor, the first locking structure, The damper and the first sensor are movably connected to the planar rotary motion device 11; the second locking structure and the second sensor are movably connected to the vertical swing motion device 12, respectively, and the support frame One end is movably connected to the upper limb operation device, and the other end is connected to the front end of the base; the seat is provided at the rear end of the base.

Further, as shown in FIG. 3, the foot operating device 3 is movably or fixedly arranged in the middle of the base. The movable setting includes a foot pedal device, a slide rail, and a push rod. The foot pedal device can move forward and backward relative to the base Move, the foot pedal and the foot sensor can rotate up and down relative to the rotation axis, the foot sensor is fixedly connected with the foot pedal,

As shown in FIG. 1, the rotation mechanism of the planar rotary motion device 11 includes an upper limb support plane, a rotating disk, a limit swivel seat, a fixed seat, a rotation shaft, an operating handle, and a first locking structure. The upper limb support plane is provided with a cavity The rotating disk is movably disposed in the cavity, the fixed seat is located below the rotating disk, the limiting rotary seat is disposed between the rotating disk and the fixed seat, and the rotating shaft It is connected to the fixed seat and the limit swivel seat, and the top is fixedly connected to the bottom of the rotating disk; the first locking structure is an electric structure or a manual structure; the operation handles are paired and vertically arranged at The surface of the rotating disk.

Further, the electric locking structure is an electronic tensioner; wherein, the electronic tensioner is used to set different resistances for the active movement of the upper limb plane rotation to provide resistance training functions.

Further, as shown in FIG. 2, the vertical swing motion device 12 includes a pneumatic spring, a fixing frame, and a second locking structure, the fixing frame is disposed on top of one end of the support frame, and one end of the pneumatic spring is fixed to the The frame is hinged, and the other end of the frame is connected to the fixing seat. The second locking structure is an electric structure or a manual structure.

Further, the foot operation device is movably arranged in the base frame cavity, the slideway is fixed on the bottom plate in the middle of the base, the footrest device is movably arranged on the slideway, one end of the push rod is fixed on the bottom plate of the base, and the other end is connected A foot pedal device, the foot operating device may also be fixedly arranged in the middle of the base.

Further, the foot pedal device includes a foot pedal, a rotating shaft, a bearing housing and a torsion spring, the bearing housing is disposed in the cavity, the rotating shaft is disposed in the bearing housing, and the foot pedal Fixedly connected with the rotating shaft, one end of the torsion spring is connected with the bottom of the foot pedal, and the other end is connected with the surface of the cavity.

Further, the support frame corresponding to the fixed foot operation device is a telescopic structure, and the support frame is 2 sections, which is telescopic through a slideway and a push rod; the foot support device corresponding to the movable setting, the support frame is Fixed length structure.

Further, the limb rehabilitation training equipment mainly includes three parts, that is, the middle part is the upper limb rehabilitation training platform and its supporting frame, foot operation device, the front part is the display screen and its bracket, and the rear part is the seat structure. Parts can be set separately or in combination of two; the seat includes a training chair body, a support rod and a chair base, one end of the support rod is connected to the chair base, and the other end is connected to the bottom of the training chair body.

As an embodiment of the present invention, it may be a virtual reality training system used for limb rehabilitation training equipment, including an upper limb rehabilitation training platform and a rehabilitation training chair. The virtual reality training system includes a control unit, a display unit, and sensors. The control unit is electrically connected to the display unit and the sensor, respectively, and the sensors are distributed on the upper limb operation device and the foot operation device.

Examples

Rotary mechanism rehabilitation training model of upper limb rehabilitation training platform:

The patient holds the operating handle on the rotating disk, and then rotates the rotating disk clockwise and counterclockwise; because the rotating disk can freely rotate in the cavity of the upper limb support plane, the patient controls the rotating direction of the rotating disk through the handle to achieve rehabilitation training .

Rehabilitation training mode of swing mechanism of upper limb rehabilitation training platform:

The patient holds the operating handle on the rotating disk, and then the elbow is placed on the extensions on both sides of the upper limb support plane. Since the bottom of the upper limb support plane is provided with a pneumatic spring hinged with the support frame, it is used to reduce or eliminate the upper limb operation device The weight, therefore, can freely pull up or press down the upper limb support plane for rehabilitation training of swinging up and down.

The combination of rotating structure of upper limb rehabilitation training platform and rehabilitation training of swing mechanism:

The rotating mechanism and the swing mechanism are respectively provided with a locking mechanism and a positioning mechanism. When the rotation mechanism is locked, that is, the patient presses the rotation lock button, the electronic lock electrically connected to the rotation lock button will be powered off, and the lock of the electronic lock will pop out immediately, if the patient resets the rotation disk (That is, the connection of the two operating handles is relatively parallel to the patient), the lock head can be extended into the locking hole provided on the periphery of the limit rotary seat, and the rotary disk can be locked. At this time, the patient can only perform the rehabilitation training of swinging up and down through the swing mechanism;

After the swing mechanism is positioned, that is, the patient presses the swing lock button and rotates to fix it, pulling the wire through the button to drive the hook to rotate until the other side of the hook is in contact with the switch on the pneumatic spring piston rod. At this time, the pneumatic The spring can be compressed, and the patient can do up and down swing training; and the gear rotation button can be unlocked to lock the pneumatic spring. At this time, the patient can only perform rotation rehabilitation training through the rotation mechanism; if the patient pulls on the swing mechanism Positioning at any position in the process or pressing process, and then using the rotating mechanism for rehabilitation training. The advantage is that because the distance between the forearm and the rear arm is different at different positions, different training content can be achieved; in addition, when the patient is at the same time By unlocking the rotation mechanism and swing mechanism, the patient can pull up or press down the swing mechanism while performing rotation rehabilitation training, further increasing the difficulty and intensity of rehabilitation training.

Cooperative rehabilitation training mode of upper limb rehabilitation training platform and foot operation device:

In the implementation of the upper limb rehabilitation training mode, the patient can use the foot pedal of the foot operation device, its sensor and other virtual reality devices to cooperate with the upper limb rehabilitation training to further increase the upper limb training effect or the difficulty of training, or achieve the linkage of the four limbs Rehabilitation effect.

For patients with impaired height, one end of the rehabilitation training chair and lifting can be used to achieve a comfortable sitting posture and facilitate the operation of the rehabilitation training device.

In addition, the present invention also provides a virtual reality rehabilitation training system used in conjunction with an upper limb rehabilitation training platform and a rehabilitation training chair. The system is provided with at least a control unit, a display unit, several sensors and an audio playback unit. Set different simulation scenarios (tasks or games), display them through the display unit, and then use the sensors distributed in the rotation mechanism, swing mechanism, and foot pedal to obtain the patient's movements in the corresponding mechanism in real time, and feedback the movements to In the control unit, the action of the specific scene (task or game) reflected in the display unit after processing by the control unit; in order to increase the sense of reality, the display unit may be preferably a wrap-around screen or projection, or directly through VR The blindfold is displayed.

For those skilled in the art, various other corresponding changes and modifications can be made according to the technical solutions and concepts described above, and all these changes and modifications should fall within the protection scope of the claims of the present invention.

Claims

The limb rehabilitation training equipment is provided with at least an upper limb rehabilitation training platform, a foot operating device and a virtual reality system, characterized in that the upper limb rehabilitation training platform includes an upper limb operating device and a support frame; the upper limb operating device includes a planar rotary motion device , A first locking structure, a damper, a first sensor and a vertical swing motion device, a second locking structure, a second sensor, the first locking structure, the damper, the first sensor rotate with the plane respectively The motion device is movably connected; the second locking structure and the second sensor are movably connected to the vertical swing motion device, one end of the support frame is movably connected to the upper limb operation device, and the other end is connected to the front end of the base.
The limb rehabilitation training device according to claim 1, characterized in that the foot operation device is movably or fixedly arranged in the middle of the base, and the activity setting includes a footrest, a slide and a push rod. The foot pedal device can move forward and backward relative to the base, the foot pedal and the foot sensor can rotate up and down relative to the rotation axis, the foot sensor is fixedly connected with the foot pedal,
The limb rehabilitation training device according to claim 1, wherein the planar rotary motion device includes an upper limb support plane, a rotating disk, a limit swivel seat, a fixed seat, a rotating shaft, an operating handle, and a first locking structure. The upper limb supporting plane is provided with a cavity, the rotary disk is movably disposed in the cavity, the fixed seat is located below the rotary disk, and the limit rotary seat is provided between the rotary disk and the fixed seat Between, the rotating shaft is connected to the fixed base, the limit rotary base and the top of the rotary base is fixedly connected to the bottom of the rotating disk; the first locking structure is an electric structure or a manual structure; the operation The handles are paired and vertically arranged on the surface of the rotating disk.
The limb rehabilitation training device according to claim 3, characterized in that the electric locking structure is an electronic tensioner; wherein, the electronic tensioner is used to set different resistances for the active movement of the upper limb plane rotation to provide the resistance training function.
The limb rehabilitation training device according to claim 1, wherein the vertical swing motion device includes a pneumatic spring, a fixing frame and a second locking structure, the fixing frame is disposed on top of one end of the support frame, and the pneumatic spring One end is hinged with the fixing frame, the other end is connected with the fixing seat, and the second locking structure is an electric structure or a manual structure.
The limb rehabilitation training device according to claim 2, characterized in that the foot operation device is movably arranged in the cavity of the base frame, the slideway is fixed on the bottom plate in the middle of the base, and the footrest device is movably arranged on the slideway. One end of the push rod is fixed on the bottom plate of the base, and the other end is connected to a foot pedal device. The foot operating device may also be fixedly arranged in the middle of the base.
The limb rehabilitation training device according to claim 2, wherein the foot pedal device includes a foot pedal, a rotating shaft, a bearing seat and a torsion spring, and a third sensor, the bearing seat is disposed in the cavity, The rotating shaft is disposed in the bearing seat, the foot pedals are provided in pairs, and are fixedly connected to the rotating shaft, one end of the torsion spring is connected to the bottom of the foot pedal, and the other end is connected to the The surface of the cavity is connected.
The limb rehabilitation training device according to claim 1, characterized in that, the support frame, corresponding to the fixedly disposed foot operation device, is a telescopic structure, and the support frame is 2 knots, which are telescopic through slide rails and push rods; Corresponding to the movable foot operating device, the support frame is a fixed-length structure.
The limb rehabilitation training device according to claim 1, characterized in that the limb rehabilitation training device mainly includes 3 parts, that is, the middle part is the upper limb rehabilitation training platform and its supporting frame, foot operation device, and the front part is the display screen The rear part is a seat structure. The three parts can be set separately or in combination; the seat includes a training chair body, a support rod and a seat base. One end of the support rod is connected to the seat base and the other end It is connected with the bottom of the training chair body.
A virtual reality training system used in a limb rehabilitation training device according to claim 1, characterized in that it includes an upper limb rehabilitation training platform and a rehabilitation training chair. The virtual reality training system includes a control unit, a display unit and a sensor. The control unit is electrically connected to the display unit and the sensor, respectively, and the sensors are distributed on the upper limb operation device and the foot operation device.