WO2021070994A1

WO2021070994A1 - Rehabilitation exercise apparatus and rehabilitation exercise method using same

Info

Publication number: WO2021070994A1
Application number: PCT/KR2019/013366
Authority: WO
Inventors: 정호춘; 이현희; 이상세; 김명춘
Original assignee: 주식회사 싸이버메딕
Priority date: 2019-10-10
Filing date: 2019-10-11
Publication date: 2021-04-15
Also published as: KR102264707B1; KR20210043761A

Abstract

The present invention provides a rehabilitation exercise apparatus which can provide various types of rehabilitation exercise therapies for patients with musculoskeletal and neurological disorders who require a rehabilitation therapy, and a rehabilitation exercise method using same. To this end, the present invention comprises: a bed support part; a bed unit installed to be rotatable about the bed support part so as to enable a patient to lie down or stand up; a seat unit coupled to the bed unit and supporting the upper body of the patient; upper limb units which are coupled to the seat unit, support the upper limbs of the patient and are for guiding an upper limb exercise or providing a resisting force during the upper limb exercise; and lower limb units which are coupled to the bed unit, support the lower limbs of the patient and are for guiding a lower limb exercise or providing a resisting force during the lower limb exercise.

Description

Rehabilitation exercise device and rehabilitation exercise method using the same

The present invention relates to a rehabilitation exercise device and a rehabilitation exercise method using the same, and more particularly, to a rehabilitation exercise device capable of performing various types of rehabilitation exercise for rehabilitation of musculoskeletal and nervous system patients, and a rehabilitation exercise method using the same.

In addition to accidents and diseases, rehabilitation exercise therapy is performed to recover damaged joints or muscles due to an increase in the elderly population.

As a rehabilitation exercise treatment for a musculoskeletal patient, an assistive device that assists a patient's walking by wearing it on the lower extremities or wears a robotic clothing on a device such as a treadmill and helps to walk safely is used.

However, the existing rehabilitation exercise therapy is limited to patients who can behave to some extent, or in the case of a nervous system patient who cannot behave at all, such as a patient with spinal cord injury or brain injury, there is a problem that rehabilitation treatment using an auxiliary device is impossible.

Of course, rehabilitation exercise therapy can be performed through a physical therapist or caregiver, but in order to safely and repeatedly perform the rehabilitation exercise treatment, physical effort, time, and skill of a physical therapist or caregiver are required, and a lot of costs are incurred. Accordingly, most of the patients are not actively using rehabilitation exercise therapy.

On the other hand, for the rehabilitation exercise treatment of neurological and musculoskeletal patients, various rehabilitation exercise treatments are required for each patient. To perform various rehabilitation exercise treatments, different types of rehabilitation exercise devices had to be used several times. Compared to the cost, there was a problem that satisfaction with rehabilitation treatment was lower.

Accordingly, there is a need for an all-in-one rehabilitation exercise device capable of performing various types of rehabilitation exercise treatments in one device.

Republic of Korea Patent Publication No. 10-0580971 (announced on May 16, 2006) discloses a'complex joint exercise rehabilitation exercise device' for restoring a patient's leg joint.

An object of the present invention is to solve a conventional problem, the present invention is a rehabilitation exercise device capable of performing various types of rehabilitation exercise treatment for musculoskeletal and nervous system patients in need of rehabilitation treatment, and a rehabilitation exercise method using the same. It is in the offering.

In order to achieve the object of the present invention described above, a rehabilitation exercise apparatus according to an embodiment of the present invention includes a bed support; A bed unit rotatably installed from the bed support so that the patient can lie down or stand; A sheet unit coupled to the bed unit and supporting the upper body of the patient; A pair of upper limb units coupled to the seat unit, supporting the upper limb of the patient, inducing upper limb motion or providing resistance during upper limb motion; And a pair of lower limb units coupled to the bed unit and supporting the lower limbs of the patient, inducing lower limb movements or providing resistance during lower limb movements.

In the rehabilitation exercise apparatus according to an embodiment of the present invention, the seat unit includes: a seat frame rotatably coupled to the bed unit to maintain an inclination angle corresponding to a waist angle of a patient; A seat frame driving unit that rotates the seat frame; A seat table movably coupled to the seat frame to be in contact with the upper body of the patient and to be close to or spaced apart from the lower limb unit; And a seat table driving unit for moving the seat table.

In the rehabilitation exercise apparatus according to an embodiment of the present invention, the upper limb unit includes: a handle bar rotatably coupled to the seat frame; And a handlebar driving unit connected to the handlebar to rotate the handlebar or to provide resistance against a pressing force transmitted from the patient.

In the rehabilitation exercise apparatus according to an embodiment of the present invention, the lower extremity unit comprises: a first leg frame for supporting the patient's thigh; A second leg frame supporting the patient's calf; A third leg frame supporting the patient's foot; A first rotation connection part rotatably connecting the first leg frame and the second leg frame to correspond to the knee joint of the patient; A second rotation connection part rotatably connecting the second leg frame and the third leg frame to correspond to the ankle joint of the patient; A first link unit supporting the first leg frame and the second bed frame from the bed unit, and adjusting an angle of the first leg frame and the second leg frame around the first rotation connection part; And a first link unit driving unit that moves the first link unit or provides resistance against a pressing force transmitted from the patient.

In the rehabilitation exercise apparatus according to an embodiment of the present invention, the first link unit is coupled to the bed unit by a first hinge, and a second hinge at one end of the first link unit driving unit around the first hinge A first link member coupled to the first hinge and having the other end coupled to the second leg frame by a third hinge; And a second link member whose one end disposed between the first hinge and the third hinge is coupled to the first link member by a fourth hinge, and the other end is coupled to the first leg frame by a fifth hinge. Can include.

In the rehabilitation exercise apparatus according to an embodiment of the present invention, based on preset patient information and exercise mode, a control unit for controlling an operation signal of the seat table driving unit and the lower extremity unit; may further include, and at this time, lower extremity exercise When the hip joint angle of the patient exceeds a preset reference angle, the seat table supporting the upper body of the patient may be moved to be close to the lower limb unit.

In the rehabilitation exercise apparatus according to an embodiment of the present invention, the electrode portion for applying electrical stimulation to the body part of the patient in close contact with the body part; And a control unit that generates a signal for applying an electrical stimulation to the electrode unit and controls operation signals of the seat unit, the upper limb unit, and the lower limb unit.

In the rehabilitation exercise apparatus according to an embodiment of the present invention, the storage unit for storing patient information and exercise mode; An input unit for selecting the patient information and the exercise mode; And a display unit that displays the patient information and the exercise mode selected by the input unit.

On the other hand, the rehabilitation exercise method according to an embodiment of the present invention, the patient boarding step of the patient boarding the above-described rehabilitation exercise device; An exercise mode setting step of setting an exercise mode required for each patient based on preset patient information; An exercise device setting step of setting an initial position of the rehabilitation exercise device according to the set exercise mode; And an exercise device operating step of operating the rehabilitation exercise device according to the set exercise mode.

In the rehabilitation exercise method according to an embodiment of the present invention, the exercise mode setting step includes: a first exercise mode setting step of setting a first exercise mode according to the strength of the patient based on preset patient information; A second exercise mode setting step of setting a second exercise mode according to an operation pattern of the patient based on the preset patient information; And a third exercise mode setting step of setting whether to apply electrical stimulation to the patient's body, based on preset patient information.

According to the present invention, it is possible to perform upper limb exercises, lower limb exercises, upper limb peristalsis, and independent rehabilitation exercises of the left and right arms and legs, thereby efficiently performing rehabilitation exercises suitable for patients.

In addition, according to the present invention, when a patient performs a rehabilitation exercise, a driving force or a resistance force is provided to enable optimized rehabilitation exercise for each patient, thereby improving the rehabilitation exercise effect.

In addition, according to the present invention, it is possible to stably support the body of a patient with discomfort, and by accurately implementing the required rehabilitation exercise, the rehabilitation exercise effect can be further improved.

In addition, according to the present invention, it is possible to further increase the rehabilitation exercise effect through the electric stimulation transmitted to the patient during exercise.

In addition, according to the present invention, it is possible to provide a detailed rehabilitation program suitable for each patient, thereby further enhancing the rehabilitation exercise effect for each patient.

In addition, in the existing rehabilitation treatment, CPM exercise and strength strengthening exercise for restoring joint function were performed separately using different exercise devices, but the rehabilitation exercise device and exercise method according to the present invention performed CPM exercise and strength strengthening exercise as one exercise. By being able to perform at the same time in the device, the rehabilitation exercise effect can be further increased in a short time.

1 is an overall exemplary view of a rehabilitation exercise device according to an embodiment of the present invention.

2 is an exemplary side view showing a lying down state of the rehabilitation exercise device according to an embodiment of the present invention.

3 is an exemplary side view showing an upright state of the rehabilitation exercise device according to an embodiment of the present invention.

4 is a partial exemplified view showing a coupling structure between a seat frame and a seat table according to an embodiment of the present invention.

5 is a conceptual diagram illustrating an example of an exercise mode according to an embodiment of the present invention.

6 is an exemplary view showing an upper limb unit according to an embodiment of the present invention.

7 is an exemplary view showing a lower body unit according to an embodiment of the present invention.

8 is an exemplary rear view of FIG. 7.

9 is an exemplary side view of FIG. 7.

10 is an exemplary view showing an operating state of the base unit according to the embodiment of the present invention.

11 is a diagram showing a rehabilitation exercise method according to an embodiment of the present invention.

100: bed support

200: bed unit

300: seat unit

400: upper limb unit

500: lower limb unit

Hereinafter, preferred embodiments of the present invention in which the above-described problem to be solved can be realized in detail will be described with reference to the accompanying drawings. In describing the present embodiments, the same name and the same reference numeral may be used for the same configuration, and additional description according to this may be omitted.

1 is an overall exemplary view of a rehabilitation exercise device according to an embodiment of the present invention, Figure 2 is an exemplary side view showing a laid state of the rehabilitation exercise device according to an embodiment of the present invention, and Figure 3 is an embodiment of the present invention It is an exemplary side view showing an upright state of a rehabilitation exercise device according to an example.

1 to 3, the rehabilitation exercise device according to an embodiment of the present invention includes a bed support unit 100, a bed unit 200, a seat unit 300, an upper limb unit 400, a lower limb unit 500, and a control unit. It may include.

The bed support part 100 supports a series of rehabilitation exercise devices, and may limit the height of the rehabilitation exercise device.

The bed support part 100 may include a lower frame 110, an upper frame 120, a frame connection part 130, and an elevating driver 140.

The lower frame 110 supports the rehabilitation exercise device from the floor, and a plurality of moving wheels may be provided on the lower surface. The rehabilitation exercise device can be easily moved in position through the moving wheel.

The upper frame 120 may be disposed to be spaced upward from the lower frame 110. The bed frame 210 of the bed unit 200 to be described later may be coupled to the upper frame 120.

The frame connection part 130 is provided to connect the lower frame 110 and the upper frame 120, and the frame connection part 130 according to the embodiment has both ends rotatable to the lower frame 110 and the upper frame 120. It may be made of a plurality of link structures to be combined.

The elevating driver 140 is provided to connect the lower frame 110 and the upper frame 120, and the elevating driver 140 according to the embodiment may be applied with a cylinder, and the lower frame according to the elongation and contraction of the cylinder The height of the upper frame 120 from 110 may be adjusted.

The upper frame 120 connected to the lower frame 110 via the frame connection unit 130 of the link structure according to the embodiment is moved to the front upper side of the lower frame 110 according to the operation of the elevating driving unit 140 The height may be raised, and the height may be lowered while moving to the rear and lower side of the lower frame 110.

When the bed support part 100 is not in use, the upper frame 120 can be maintained in a lowered state close to the lower frame 110, and only when in use, by operating the elevating driving unit 140, from the lower frame 110 It can be adjusted to an elevated state by being spaced apart.

The bed unit 200 can support the seat unit 300, the upper limb unit 400, the lower limb unit 500, and the patient, and be rotatably installed from the bed support portion 100 so that the patient can lie down or stand. I can. That is, by using the rehabilitation exercise device according to the present invention, the patient can perform rehabilitation exercises in the lying state and the standing state, and also perform the rehabilitation exercise in the inclined state located between the lying state and the standing state.

The bed unit 200 may include a bed frame 210 and a bed frame driving unit 220.

The bed frame 210 has a plate structure and may be seated on the upper surface of the upper frame 120. In this case, the bed frame 210 may be coupled to the upper frame 120 by a first rotation shaft 150A so as to be rotatable. In the bed frame 210 according to the embodiment, the middle portion may be coupled to the upper frame 120 by a first rotation shaft 150A.

The bed frame driving unit 220 rotates the bed frame 210 about the first rotation shaft 150A, and may be provided to connect the upper frame 120 and the bed frame 210. In the bed frame driving unit 220 according to the embodiment, a cylinder may be applied, and the upper frame 120 may be rotated about the first rotation shaft 150A according to the expansion and contraction of the cylinder.

The bed frame 210 may be rotated between a horizontal state for supporting a lying patient and a vertical state for supporting a standing patient according to the operation of the bed frame driving unit 220.

The seat unit 300 may support the upper body of the patient, and may be rotatably coupled to the bed frame 210. Here, the upper body of the patient may be a body part including the patient's head, torso, and buttocks.

The seat unit 300 may include a seat frame 310, a seat frame driving unit 320, a seat table 330, and a seat table driving unit 340.

The seat frame 310 has a plate structure and may be seated on the upper surface of the bed frame 210. At this time, the seat frame 310 may be coupled to the bed frame 210 by a second rotation shaft 250A so that an inclination angle corresponding to the patient's waist angle is maintained. The seat frame 310 according to the embodiment may have one end coupled to the bed frame 210 by a second rotation shaft 250A.

In addition, a holding frame 350 may be further provided at one end of the seat frame 310. The holding frame 350 may be disposed above the seat frame 310 in a standing state. Although not shown, a wearable holding member that can be worn by a patient when standing may be bound to the holding frame 350. That is, while the seat frame 310 is upright, the patient may wear the wearable holding member, and the weight of the patient wearing the wearable holding member may be distributed through the holding frame 350 without being concentrated on the lower limbs. .

The seat frame driving unit 320 rotates the seat frame 310 around the second rotation shaft 250A, and may be provided to connect the bed frame 210 and the seat frame 310. In the seat frame driving unit 320 according to the embodiment, a cylinder may be applied, and the seat frame 310 may be rotated about the second rotation shaft 250A according to the expansion and contraction of the cylinder.

With additional reference to FIG. 4, the seat table 330 may directly contact the upper body of the patient and may be seated on the upper surface of the seat frame 310. In this case, the seat table 330 may be slidably coupled to the seat frame 310 so as to be close to or spaced apart from the leg unit.

According to the embodiment, the seat frame 310 and the seat table 330 may be connected to each other through a slide means. As a slide means, a first guide rail 360 coupled to an upper surface of the seat frame 310 and provided in the longitudinal direction, and a first guide rail 360 coupled to the lower surface of the seat frame 310 to follow the first guide rail 360 It may be provided with a first guide block 370 that slides. Accordingly, the seat table 330 can be stably moved along the longitudinal direction of the first guide rail 360 on the upper surface of the seat frame 310.

The seat table driving unit 340 may slide the seat table 330 from the seat frame 310. In the bed frame driving unit 220 according to the embodiment, a cylinder may be applied, and the seat table 330 may reciprocate in the longitudinal direction on the seat frame 310 according to the expansion and contraction of the cylinder. Reference numeral 341 denotes a fixing bracket connecting the seat table 330 and the seat table driving unit 340.

Meanwhile, FIG. 5 is a conceptual diagram illustrating an example of an exercise mode according to an embodiment of the present invention.

Referring to FIG. 5, when performing the lower limb exercise while the patient is lying down as in FIG. 2, the upper body may be interlocked according to the range of motion of the patient's leg. For example, when the angle (a) of the hip joint formed by the pelvis and the thigh exceeds 120 degrees, a movement in which the upper body of the patient is pulled toward the lower limb unit 500 may occur.

To this end, when the seat unit 300 exceeds a preset reference angle during motion of the patient's lower limbs, the seat unit 300 may be interlocked with the operation of the lower limb unit 500 to be controlled.

That is, the present invention may include a control unit for controlling operation signals of the seat table driving unit 340 and the first link unit driving unit 580 (see FIG. 7) based on preset patient information. When the hip joint angle (a) of the patient exceeds the preset reference angle (a), the operation signal of the seat table driving unit 340 so that the seat table 330 supporting the upper body of the patient approaches the lower limb unit 500 Can be controlled at the same time. A control unit according to an embodiment of the present invention will be described further below.

6, the upper limb unit 400 may be coupled to the seat unit 300, and while supporting the upper limb of the patient, it may induce the upper limb movement of the patient or provide resistance during the upper limb movement. The upper limb may be the patient's arm, and the upper limb motion may correspond to the arm motion.

The upper limb unit 400 may include a left upper limb unit supporting the patient's left arm and a right upper limb unit supporting the patient's right arm, and the left upper limb unit and the right upper limb unit may be driven independently of each other.

Each of the left upper limb unit and the right upper limb unit may include a handle bar 410 and a handle bar driving unit 420. That is, the left upper limb unit may include a left handlebar and a left handlebar driving unit, and the right upper limb unit may include a right handlebar and a right handlebar driving unit.

The handle bar 410 may be rotatably coupled to the seat frame 310 at one end, and a gripping unit may be provided at the other end of the handle bar 410. As a result, the patient can perform upper limb movement by pushing or pulling the handle bar 410 while holding the grip portion.

The handlebar driving unit 420 may rotate the handlebar 410 from the seat frame 310 and may provide a resistance force acting as a reaction force to a pressing force transmitted from a patient in motion.

The handlebar driving unit 420 according to the embodiment may be applied with a servo motor, and one end of the handlebar 410 may be directly coupled to an output terminal of the servomotor.

7 is an exemplary view showing a lower limb unit according to an embodiment of the present invention, FIG. 8 is an exemplary rear view of FIG. 7, FIG. 9 is an exemplary side view of FIG. 7, and FIG. 10 It is an exemplary diagram showing the operation state of the unit.

7 to 10, the lower limb unit 500 may be coupled to the bed unit 200, and may induce the lower limb movement of the patient while supporting the lower limb of the patient or provide resistance during the lower limb movement. I can. The lower extremity may be the patient's leg, and the lower extremity exercise may correspond to the leg exercise.

The lower limb unit 500 may include a left lower limb unit supporting the left leg of the patient and a right lower limb unit supporting the right leg of the patient, and the left lower limb unit and the right lower limb unit may be driven independently of each other.

Each of the left lower limb unit and the right lower limb unit is a first leg frame 510, a second leg frame 520, a third leg frame 530, a first rotary connection unit 540, a second rotary connection unit 550, and It may include one link unit 560 and a first link unit driving unit 580.

The first leg frame 510 may support the patient's thigh. The first leg frame 510 according to the embodiment may be provided with a pair of bar members disposed on the side of the thigh and a curved support on which the thigh is seated while connecting the pair of bar members. The first leg frame 510 may be manufactured in various shapes and structures capable of stably supporting the thigh.

At this time, although not shown, the first leg frame 510 may further include a binding member for fixing the first leg frame 510 and the thigh in a state in which the thigh is seated. For example, a binding member having a belt structure connecting the pair of rod members to surround the thigh in a state where the thigh is seated on the first leg frame 510 may be applied. Accordingly, the thigh and the first leg frame 510 are not separated from each other during the lower limb movement, and the same movement may be implemented.

In addition, the first leg frame 510 may be adjustable in length according to the size of the body, that is, the length and thickness of the thigh. For example, the length of the pair of rod members may be expanded or reduced to correspond to the length of the thigh, and the length of the curved support may be expanded or reduced to correspond to the thickness of the thigh.

The second leg frame 520 may support the patient's calf. The second leg frame 520 according to the embodiment is also provided as a curved support on which the thigh is seated while connecting a pair of bar members disposed on the side of the calf and the pair of bar members, like the first leg frame 510 Can be. The second leg frame 520 may also be manufactured in various shapes and structures capable of stably supporting the calf.

In addition, like the first leg frame 510, the second leg frame 520 may further include a binding member having a belt structure for fixing the second leg frame 520 and the calf in a state where the calf is seated.

In addition, the length of the second leg frame 520 may also be adjusted by expanding and reducing the length of the pair of rod members or expanding and reducing the length of the curved support according to the size of the body, that is, the length and thickness of the calf.

The third leg frame 530 may support the patient's foot. The third leg frame 530 according to the embodiment may be provided in the same structure as a shoe sole to support the sole of the patient.

In addition, in the third leg frame 530, as in the first leg frame 510 and the second leg frame 520, the third leg frame 530 and the belt structure for fixing the foot in the state where the foot is seated are bonded. A member may be further provided.

The first rotation connection part 540 may rotatably connect the first leg frame 510 and the second leg frame 520 to correspond to the knee joint of the patient.

The second rotation connection part 550 may rotatably connect the second leg frame 520 and the third leg frame 530 to correspond to the ankle joint of the patient.

In this way, the first leg frame 510 corresponding to the patient's thigh, knee joint, calf, ankle joint, and foot, the first rotation connection part 540, the second leg frame 520, the second rotation connection part 550 , Through the third leg frame 530, it is possible to guide correctly without feeling of foreignness during leg movements that are changed at various angles.

The first link unit 560 may support the first leg frame 510 and the second bed frame 210 from the bed frame 210, and the first leg frame ( 510 and the second leg frame 520 can stably support the varying angles, and the angle of the first leg frame 510 and the second leg frame 520 around the first rotation connector 540 You can change it.

The first link unit 560 may include a first link member 561 and a second link member 562.

The first link member 561 may be coupled to the fixing bracket 211 of the bed frame 210 and the first hinge H1. In addition, one end of the first link member 561 around the first hinge H1 may be coupled to the driving unit of the first link unit 560 and the second hinge H2, centering on the first hinge H1 As a result, the other end of the first link member 561 may be coupled to the second leg frame 520 and the third hinge H3. The first link member 561 according to the embodiment may be provided to be bent around the first hinge H1.

One end of the second link member 562 may be coupled to the first link member 561 and the fourth hinge H4, and the other end may be coupled to the first leg frame 510 and the fifth hinge H5. I can. In this case, the fourth hinge H4 may be disposed between the first hinge H1 and the third hinge H3. The second link member 562 according to the embodiment may be provided to connect the fourth hinge H4 and the fifth hinge H5 and have a curved shape.

The first link unit driving unit 580 may move the first link unit 560 and may provide a resistance force acting as a reaction force to a pressing force transmitted from a patient in motion.

The first link unit driving unit 580 may be provided to connect the bed frame 210 and the first link unit 560, and the first link unit driving unit 580 according to the embodiment includes a motor 581, a screw ( 582), may include a nut block (583).

The motor 581 may be coupled to the bed frame 210, and a servo motor may be applied.

The screw 582 is provided in the longitudinal direction of the lower extremities of the body, and is coupled to the motor 581 to rotate according to the operation of the motor 581.

The nut block 583 may be gear-coupled with the screw 582, and may be coupled to the first link member 561 and the second hinge H2.

Accordingly, the nut block 583 may be reciprocated on the screw 582 according to the rotation of the screw 582 interlocking with the motor 581, and the nut block 583 and the second hinge H2 are connected. 1 The link member 561 may rotate around the first hinge H1 in conjunction with the reciprocating movement of the nut block 583.

As shown in Figure 10 (b), when the second hinge (H2) of the first link member 561 is moved to the left in the drawing, the first link member 561 is centered on the first hinge (H1) It is rotated clockwise, and the third hinge (H3) and the fourth hinge (H4) are also rotated in the clockwise direction and are moved upward on the drawing. In conjunction with this, the second link member 562 is rotated counterclockwise. As a result, as the first rotation connection part 540 is moved upward, the angle of the first leg frame 510 and the second leg frame 520 is narrowed, so that the patient's leg may be bent.

Conversely, as shown in FIG. 10 (a), when the second hinge H2 of the first link member 561 moves to the right in the drawing, the first link member 561 is the first hinge H1 ) Is rotated in a counterclockwise direction, and the third hinge (H3) and the fourth hinge (H4) are also rotated counterclockwise and moved downward on the drawing. In conjunction with this, the second link member 562 is rotated clockwise. As a result, as the first rotation connection part 540 is moved downward, the angle of the first leg frame 510 and the second leg frame 520 increases, so that an operation in which the patient's leg is spread may be implemented.

Meanwhile, the lower limb unit 500 may further include a leg supporter 570.

The leg supporter 570 may connect the bed frame 210 and the second leg frame 520 and stably support the second leg frame 520 interlocking with the first link unit 560.

The leg supporter 570 according to the embodiment may include a second guide rail 571, a second guide block 572, and a supporter frame 573.

The second guide rail 571 may be coupled to the upper surface of the bed frame 210 to be provided in the longitudinal direction of the base unit 500.

The second guide block 572 may be coupled to the second guide rail 571 in a slidable manner.

One end of the supporter frame 573 may be rotatably coupled to the second guide block 572, and the other end of the supporter frame 573 may be coupled to the second leg frame 520.

Accordingly, the second leg frame 520 and the supporter frame 573 are interlocked, but the second leg frame 520 and the supporter frame 573 are interlocked, and the second guide block 572 is the second guide rail 571 when the upper limb movement, that is, the patient's leg is unfolded or bent. Since it is constrained to the image, the leg supporter 570 can stably support the second leg frame 520 in a uniform and accurate position at all times.

The control unit may control the bed support 100, the bed unit 200, the sheet unit 300, the upper limb unit 400, and the lower limb unit 500. In other words, the control unit of the bed elevation driving unit 140, the bed frame driving unit 220, the seat frame driving unit 320, the seat table driving unit 340, the handlebar driving unit 420, the first link unit driving unit 580 You can control the actuation signal.

Meanwhile, the rehabilitation exercise apparatus according to an embodiment of the present invention may include an electrode unit that is in close contact with a body part of a patient and applies electrical stimulation to the body part.

The electrode unit may be directly attached to the patient's body part, and may be provided in advance on a wearable holding member worn by the patient.

The electrode unit may transmit muscle stimulation signals such as electrical muscle stimulation (EMS) or neuromuscular electrical stimulation (NMES) to the patient's muscles.

The near stimulation signal may be a low frequency signal of limited energy for physical safety, and the strength, frequency, current, and waveform of the near stimulation signal may be adjusted by the control unit based on patient information. In addition, the control unit may additionally control operation signals of the seat unit, upper limb unit, and lower limb unit based on the generated and adjusted near stimulation signals.

As such, the muscle stimulation signal generated through the electrode part stimulates the patient's muscles to prevent pain or muscle atrophy, and increase the rehabilitation exercise effect.

Meanwhile, the electrode unit may measure a surface EMG signal generated from the patient's body during exercise. The measured EMG signal may be transmitted to the controller. In this case, the control unit may process the EMG signal sensed through the electrode unit and additionally control the operation signals of the seat unit, the upper limb unit, and the lower limb unit based on this.

When the electrode unit is provided in this way, the control unit generates a signal for applying electrical stimulation to the electrode unit based on the patient information, processes the EMG signal detected from the electrode unit during exercise, and the seat unit based on the processed EMG signal. (300), it is possible to control the operation signals of the upper limb unit 400 and the lower limb unit 500 again.

Meanwhile, the rehabilitation exercise apparatus according to an embodiment of the present invention may further include a storage unit, an input unit, and a display unit.

The storage unit may store patient information and exercise mode in advance.

The patient information may correspond to a series of patient body information that requires rehabilitation exercises in relation to the musculoskeletal system and nervous system.

For example, exercises for musculoskeletal rehabilitation patients include continuous passive motion exercise (CPM) and exercise to strengthen muscle strength. Various types of rehabilitation exercises can be performed, such as improving walking ability, improving balance, relaxing pain, relieving simple fatigue, and improving the attractiveness of the knee joint. In addition, in the case of patients with nervous system damage, which are performed passively by most physical therapists, they may be classified into more various types of rehabilitation exercises according to joint movability, electrical stimulation, and thermal therapy. In addition, rehabilitation exercises for various body parts may be performed for each patient.

As such, the storage unit may store a series of patient information on the type of rehabilitation exercise required for each patient and body parts.

Exercise modes are various types that can be selected based on patient information such as the patient's range of motion, joint rotation direction, joint rotation speed and acceleration, resistance applied to the joint, strength of the muscle stimulation signal, rehabilitation exercise time, and number of rehabilitation repetitions. This is the exercise information.

For example, the exercise mode may include a first exercise mode, a second exercise mode, and a third exercise mode.

The first exercise mode may be selected based on the patient information, and may be an exercise mode that is classified according to the strength of each body of the patient. For example, the first exercise mode is a manual mode, an automatic mode, and a semi-automatic mode. It can be classified as

The manual mode may be a case in which the patient performs rehabilitation exercise by himself, just like fitness. As a result, in the manual mode, the rehabilitation exercise device sets the resistance force and the range of motion to correspond to the patient information, and the patient can perform the rehabilitation exercise by himself in the resistance force and the range of motion set in this way.

In the automatic mode, the patient does not directly apply an external force like the manual mode, but may be a case in which the rehabilitation exercise device completely induces the patient's movement under preset conditions such as the size of the resistance force, the range of motion, and the exercise time based on patient information. .

The semi-automatic mode may correspond to a mode in which a manual mode and an automatic mode are interlocked. For example, upper limb exercise may be performed in a manual mode and lower limb exercise may be performed in an automatic mode. In addition, the left arm and left leg may be in a manual mode, and the right arm and right leg may be in an automatic mode. In addition, the bending motion of the joint may be in a manual mode, and the stretching motion of the joint may be in an automatic mode.

The second exercise mode may be selected based on the patient information, and may be an exercise mode that is classified according to the movement of the patient's body. For example, it may be divided into an upper limb mode, a lower limb mode, and an upper and lower interlocking mode. , Typically, among the upper and lower interlocking modes, it can be divided into a squat mode and a walking mode.

The upper limb mode is a mode in which only the upper limb motion of the patient is performed using the left upper limb unit and the right upper limb unit, and upper limb motion can be performed with only one of the patient's left or right arms or both arms. In addition, both arms can be operated in the same way, and both arms can be operated alternately. In addition, when performing upper limb exercises with both arms, different first motion modes may be set in both upper limb units 400. That is, different joint motion ranges, joint rotation directions, joint rotation speed and acceleration, resistance applied to the joint, strength of the muscle stimulation signal, and the like may be set in both handlebar driving units 420.

The lower extremity mode is also a mode in which only the lower extremity exercise of the patient is performed using the left and right lower extremity unit, and the lower extremity exercise can be performed with only one leg of the patient's left or right leg, or the lower extremity exercise can be performed with both legs. . In addition, both legs can be operated in the same manner as in a squat, and both legs can be operated alternately, such as walking. In addition, when performing the lower limb exercise with both legs, different first exercise modes may be set in both lower limb units 500. That is, different joint motion ranges, joint rotation directions, joint rotation speed and acceleration, resistance applied to the joint, strength of the muscle stimulation signal, and the like may be set in both of the first link unit driving units 580.

The upper and lower limb interlocking mode is a mode that can perform the upper and lower limb modes at the same time, and as described above, since the left upper limb unit, the right upper limb unit, the left lower limb unit and the right lower limb unit can be operated independently, a wide variety of combinations You can implement the upper and lower body exercise mode.

Representatively, in the squat mode, the patient can perform the squat exercise using the same motion pattern of the left upper limb unit and the right upper limb unit and the same motion pattern of the left and right lower limb units. At this time, according to the present invention, since the left upper limb unit, the right upper limb unit, the left lower limb unit and the right lower limb unit can be operated independently of each other, the left arm, right arm, left leg, and right leg are different according to the needs of each patient. The first exercise mode, that is, different joint motion ranges, joint rotation directions, joint rotation speed and acceleration, resistance applied to the joint, strength of a muscle stimulation signal, and the like may be set.

In addition, in the case of the walking mode, the patient may implement the walking motion by using opposite operation patterns of the left upper limb unit and the right upper limb unit and opposite operation patterns of the left and right lower limb units. Even at this time, according to the present invention, since the left upper limb unit, the right upper limb unit, the left lower limb unit, and the right lower limb unit can be operated independently of each other, the left arm, right arm, left leg, and right leg are each Another first exercise mode, that is, different joint motion ranges, joint rotation directions, joint rotation speed and acceleration, resistance applied to the joint, strength of a muscle stimulation signal, and the like may be set.

The third exercise mode may be selected based on the patient information, and may be an exercise mode for setting whether to apply a muscle stimulation signal to the body of the patient.

As a result, the control unit can generate control signals for each of the first exercise mode, the second exercise mode, and the third exercise mode, and preferably, after combining the first exercise mode, the second exercise mode, and the third exercise mode. The final control signal can be generated.

In this way, the rehabilitation exercise subdivided according to the first exercise mode, the second exercise mode and the third exercise mode can systematically perform rehabilitation exercises such as muscle strength strengthening or joint attraction for each patient requiring various rehabilitation exercises. .

The input unit may select patient information and exercise mode, and the selected patient information and exercise mode may be displayed through the display unit.

The display unit may display patient information and exercise mode stored in the storage unit irrespective of the input unit, and may display a rehabilitation exercise result being performed, a rehabilitation target, a rehabilitation schedule, and the like.

The input unit and the display unit may be a mobile unit such as a computer connected to the Internet, a mobile phone, or a tablet.

Through such an input unit and a display unit, a patient or a manager can adjust the resistance force of the rehabilitation exercise device, a range of motion, and exercise time in real time. In addition, the performed rehabilitation exercise information may be stored in a storage unit, and may be transmitted to a sharing server through a network such as the Internet.

Meanwhile, FIG. 11 is a diagram showing a rehabilitation exercise method according to an embodiment of the present invention.

Referring to FIG. 11, a rehabilitation exercise method according to an embodiment of the present invention may include a patient boarding step, an exercise mode setting step, an exercise device setting step, and an exercise device operating step.

The patient boarding step is a step in which the patient boards the rehabilitation exercise device. By adjusting the height of the bed support part 100, it is possible to easily carry out the boarding of a patient with discomfort.

The exercise mode setting step is a step of setting an exercise mode required for each patient based on preset patient information.

As described above, the exercise mode setting step may include a first exercise mode setting step, a second exercise mode setting step, and a third exercise mode setting step.

The first exercise mode setting step is a step of setting a first exercise mode according to the degree of muscle strength of the patient based on preset patient information. For example, it can be selected from manual mode, automatic mode, and semi-automatic mode.

The second exercise mode setting step is a step of setting a second exercise mode according to a patient's motion pattern based on preset patient information. For example, it may be selected from an upper limb mode, a lower limb mode, an upper and lower interlocking mode, and the like, and representatively, a squat mode and a walking mode may be selected from among the upper and lower interlocking modes.

The third exercise mode setting step is a step of setting whether to apply a muscle stimulation signal to the patient's body based on preset patient information.

When the exercise mode according to the patient information is set, the position of the exercise device is set. That is, the exercise device setting step is a step of setting the initial position of the rehabilitation exercise device according to the set exercise mode. For example, the patient may perform upper or lower limb exercises while lying down, perform upper or lower limb exercises in an inclined state, and perform upper limb exercises or lower limb exercises in a standing state.

When the initial position of the exercise device is set, rehabilitation exercises are performed. That is, the exercise device operating step is a step of operating the rehabilitation exercise device according to the set exercise mode and performing the rehabilitation exercise.

As described above, the rehabilitation exercise apparatus and exercise method according to the present invention can perform upper limb exercises, lower limb exercises, upper limb peristalsis, and independent rehabilitation exercises of the left and right arms and legs, thereby efficiently performing rehabilitation exercises suitable for patients. You can do it.

In addition, the rehabilitation exercise apparatus and exercise method according to the present invention provide a driving force or a resistance force when the patient performs the rehabilitation exercise, thereby enabling optimized rehabilitation exercise for each patient, thereby improving the rehabilitation exercise effect.

In addition, the rehabilitation exercise apparatus and exercise method according to the present invention can stably support the body of a patient with discomfort, and can further improve the rehabilitation exercise effect by accurately implementing the required rehabilitation exercise.

In addition, the rehabilitation exercise apparatus and exercise method according to the present invention can further increase the rehabilitation exercise effect through electric stimulation transmitted to a patient during exercise.

In addition, the rehabilitation exercise device and exercise method according to the present invention can provide a detailed rehabilitation program suitable for each patient, thereby further enhancing the rehabilitation exercise effect for each patient.

In addition, for example, in the existing rehabilitation treatment, CPM (CPM) exercise for restoring joint function and strength strengthening exercise were separately performed using different exercise devices, but the rehabilitation exercise apparatus and exercise method according to the present invention are CPM. By being able to perform (CPM) exercise and strength strengthening exercise at the same time in one exercise device, the effect of rehabilitation exercise can be further increased in a short time.

As described above, preferred embodiments of the present invention have been described with reference to the drawings, but those skilled in the art will variously modify the present invention within the scope not departing from the spirit and scope of the present invention described in the following claims. Can be modified or changed.

Through an all-in-one rehabilitation exercise device capable of performing various types of rehabilitation exercise therapy, it is industrially available in the field of technology that can increase the effect of rehabilitation treatment.

Claims

Bed support;

A bed unit rotatably installed from the bed support so that the patient can lie down or stand;

A sheet unit coupled to the bed unit and supporting the upper body of the patient;

A pair of upper limb units coupled to the seat unit, supporting the upper limb of the patient, inducing upper limb motion or providing resistance during upper limb motion; And

A rehabilitation exercise device comprising: a pair of lower limb units coupled to the bed unit and supporting the lower limbs of the patient, inducing lower limb movements or providing resistance during lower limb movements.
The method of claim 1,

The sheet unit,

A seat frame rotatably coupled to the bed unit to maintain an inclination angle corresponding to the patient's waist angle;

A seat frame driving unit that rotates the seat frame;

A seat table movably coupled to the seat frame to be in contact with the upper body of the patient and to be close to or spaced apart from the lower limb unit; And

Rehabilitation exercise device comprising a; a seat table driving unit for moving the seat table.
The method of claim 1,

The upper limb unit,

A handle bar rotatably coupled to the seat frame; And

And a handlebar driving unit connected to the handlebar to rotate the handlebar or to provide resistance against a pressing force transmitted from the patient.
The method of claim 1,

The base unit,

A first leg frame supporting the patient's thigh;

A second leg frame supporting the patient's calf;

A third leg frame supporting the patient's foot;

A first rotation connection part rotatably connecting the first leg frame and the second leg frame to correspond to the knee joint of the patient;

A second rotation connection part rotatably connecting the second leg frame and the third leg frame to correspond to the ankle joint of the patient;

A first link unit supporting the first leg frame and the second bed frame from the bed unit, and adjusting an angle of the first leg frame and the second leg frame around the first rotation connection part; And

And a first link unit driving unit that moves the first link unit or provides resistance against a pressing force transmitted from the patient.
The method of claim 4,

The first link unit,

The bed unit and the first hinge are coupled, one end is coupled to the first link unit driving unit with a second hinge around the first hinge, and the other end is coupled to the second leg frame around the first hinge. A first link member coupled with a third hinge; And

A second link member having one end disposed between the first hinge and the third hinge coupled to the first link member by a fourth hinge, and the other end coupled to the first leg frame by a fifth hinge; and Rehabilitation exercise device, characterized in that.
The method of claim 2,

A control unit for controlling operation signals of the seat table driving unit and the lower limb unit based on preset patient information and exercise mode; further comprising,

Rehabilitation exercise apparatus, characterized in that when the hip joint angle of the patient exceeds a preset reference angle during lower limb exercise, the seat table supporting the upper body of the patient is moved to be close to the lower limb unit.
The method of claim 1,

An electrode part in close contact with the patient's body part to apply electrical stimulation to the body part; And

And a control unit for generating a signal for applying an electrical stimulation to the electrode unit and controlling operation signals of the seat unit, the upper limb unit, and the lower limb unit.
The method of claim 1,

A storage unit for storing patient information and exercise mode;

An input unit for selecting the patient information and the exercise mode; And

And a display unit for displaying the patient information and the exercise mode selected by the input unit.
As a rehabilitation exercise method using the rehabilitation exercise device according to any one of claims 1 to 8,

A patient boarding step in which the patient boards the rehabilitation exercise device;

An exercise mode setting step of setting an exercise mode required for each patient based on preset patient information;

An exercise device setting step of setting an initial position of the rehabilitation exercise device according to the set exercise mode; And

Rehabilitation exercise method comprising a; exercise device operating step of operating the rehabilitation exercise device according to the set exercise mode.
The method of claim 9,

The exercise mode setting step,

A first exercise mode setting step of setting a first exercise mode according to a degree of muscle strength of the patient based on preset patient information;

A second exercise mode setting step of setting a second exercise mode according to an operation pattern of the patient based on the preset patient information; And

And a third exercise mode setting step of setting whether to apply electrical stimulation to the patient's body, based on preset patient information.