WO2023004972A1

WO2023004972A1 - Hand rehabilitation training device

Info

Publication number: WO2023004972A1
Application number: PCT/CN2021/120347
Authority: WO
Inventors: 白方会; 郭跃; 李耀峰; 付章军; 常志强; 张鹏涛; 楚向前; 张博; 郭利伟
Original assignee: 北京希迪克康复医学研究院有限公司
Priority date: 2021-07-30
Filing date: 2021-09-24
Publication date: 2023-02-02
Also published as: CN113398540B; CN113398540A

Abstract

The present invention relates to the technical field of medical equipment, and in particular, to a hand rehabilitation training device. The hand rehabilitation training device comprises a hand dorsal extension and palmar flexion mechanism, a hand internal rotation and external rotation mechanism, and a hand radial flexion and ulnar flexion mechanism, wherein the hand dorsal extension and palmar flexion mechanism rotates at a limited angle on a horizontal plane, such that training of two physiological actions of hand dorsal extension and palmar flexion is realized; the hand internal rotation and external rotation mechanism rotates at a limited angle on a vertical plane, such that training of two physiological actions of hand internal rotation and external rotation is achieved; and the hand radial flexion and ulnar flexion mechanism performs pitching swing at a limited angle, such that training of two physiological actions of hand radial flexion and ulnar flexion is realized. According to the present invention, full-degree-of-freedom rehabilitation training of a hand joint can be realized, such that a patient can perform rehabilitation training in comfortable postures at home.

Description

A hand rehabilitation training device

technical field

The invention belongs to the technical field of medical equipment, and particularly relates to a hand rehabilitation training device, which is suitable for patients with hand dysfunction caused by cerebrovascular disease, severe traumatic brain injury and other nervous system diseases and for recovering upper limb function after surgery.

Background technique

The main movement form of the hand rehabilitation training device is active movement, that is, the hand drives the rehabilitation device to perform corresponding movements. The movement content includes three movement modes of dorsiflexion, palmar flexion, internal rotation and external rotation, radial flexion and ulnar flexion. At present, most of the equipment on the market can only realize single-degree-of-freedom or two-degree-of-freedom hand movement, and cannot realize all-round motion training of three-degree-of-freedom hands. This has great limitations and cannot meet the complete needs of patients. Rehabilitation training leads to unsatisfactory recovery effects of patients and affects patients' confidence in recovery. In addition, the medical rehabilitation equipment on the market is basically oriented to hospitals and rehabilitation centers. The equipment is relatively large, and very few of them are oriented to home users.

Contents of the invention

Aiming at the defects existing in the prior art, the present invention proposes a hand rehabilitation training device, which can realize rehabilitation training with full degrees of freedom of hand joints, and allow patients to perform rehabilitation training in various comfortable postures at home.

In order to achieve the above object, the present invention adopts the following technical solutions:

The invention provides a hand rehabilitation training device, comprising:

The dorsiflexion and palmar flexion mechanism of the hand performs a rotation movement with a limited angle on the horizontal plane to realize the training of two physiological actions of dorsiflexion and palmar flexion of the hand;

The internal rotation and external rotation mechanism of the hand makes a limited angle of rotation on the vertical plane to realize the training of two physiological movements of the internal rotation and external rotation of the hand;

The radial and ulnar flexion mechanism of the hand performs the pitching swing with a limited angle to realize the training of two physiological movements of the radial flexion and ulnar flexion of the hand.

Further, the hand dorsiflexion and palm flexion mechanism includes a cylindrical shell, a bracelet support base, a six-dimensional torque sensor, a support seat, a disk damper and a connecting disk arranged inside the cylindrical shell; the cylindrical shell is fixed on Above the supporting base of the wristband, a threading groove is provided at the bottom of the cylindrical shell, and the cables of the six-dimensional moment sensor pass through the threading groove; the upper plane of the supporting base of the wristband and the six-dimensional moment sensor The lower plane of the six-dimensional torque sensor is fixedly connected to the bottom of the disk damper through the support base, and the top of the disk damper is fixedly connected to the connecting disk.

Further, the internal rotation and external rotation mechanism of the hand includes a ring guide rail, a ring guide rail cover plate, a rotating ring, a fixed long shaft of the rotating ring, a fixed short shaft of the rotating ring, card edge bearing 1 and card edge bearing 2; the ring guide rail and The connecting disk is fixedly connected, and the front part of the circular guide rail is fixedly connected with the cover plate of the circular guide rail to form a chamber for accommodating the rotating ring; two card edge bearings are respectively installed at both ends of the fixed long axis of the rotating ring, and the rotating The two ends of the fixed long axis of the ring are respectively connected with the lower fixing holes of the ring guide rail and the cover plate of the ring guide rail; the two card edge bearings are respectively installed on the two fixed short shafts of the rotating ring, and the two fixed short shafts of the rotating ring are respectively connected with the The ring guide rail is connected to the upper side fixing hole of the ring guide rail cover plate; the first card edge bearing and the second card edge bearing form a circular track for the rotation of the rotating ring.

Further, the hand internal rotation and external rotation mechanism also includes a ring guide rail packaging case, and the ring guide rail packaging case is sleeved on the outside of the ring guide rail and the ring guide rail cover plate.

Further, the internal rotation and external rotation mechanism of the hand also includes two mechanical limit nails, and the two mechanical limit nails are respectively installed on the left and right sides of the upper part of the rotating ring to form a limited fit with the ring guide rail packaging shell.

Further, the radial and ulnar flexion mechanism of the hand includes a rotating block, two rotating block bearing seats, two rotating block bearings, a swing shaft, an arm rest and a fixed strap; the two rotating block bearing seats are connected with the rotating The two rotating block bearings are respectively installed in the two rotating block bearing seats, the rotating block is sleeved on the swing shaft, and the two ends of the swing shaft are fixedly connected with the two rotating block bearings , one end of the arm rest is installed on the top surface of the rotating block, and the fixed strap is installed on the arm rest.

Further, the radial and ulnar flexion mechanism of the hand also includes a grip sensor bracket, a grip sensor and a grip sensor protective cover, the grip sensor bracket is installed between the rotating block and the arm rest, the grip sensor and the grip sensor bracket It is fixedly connected, and the protective sleeve of the grip sensor is sheathed on the outside of the grip sensor.

Compared with the prior art, the present invention has the following advantages:

1. When the hand rehabilitation training device of the present invention is doing two physiological actions of dorsiflexion and palm flexion, the patient can adjust the resistance of the disc damper according to the demand, which can fully stimulate the residual muscle strength of the patient and improve the muscle strength of the patient. and stamina.

2. By placing the arm on the arm support and fixing it with a fixed strap, the hand rehabilitation training device can complete the all-round motion training of the hand joint with three degrees of freedom, that is, back extension, palm flexion, internal rotation and external rotation and Radial flexion and ulnar flexion overcome the trouble of frequent replacement of rehabilitation devices and multiple fixation of hand straps in single-degree-of-freedom training in the past, which improves the efficiency of rehabilitation training to a certain extent, improves the range of motion of hand joints, and prevents and delays Muscle atrophy of the limbs can achieve the ideal training effect, and the high degree of integration can save money for ordinary users.

3. The device is novel in design, compact in appearance, multi-functional, and portable. It is suitable for home users and can stimulate the enthusiasm of patients to participate. Through continuous, regular and step-by-step rehabilitation training, patients can stimulate nerves to change the changes in the mapping area of the central nervous system , so as to quickly improve the ability of the patient's hand movement.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the overall structure schematic diagram of the hand rehabilitation training device of the embodiment of the present invention;

Fig. 2 is a schematic structural view of the hand rehabilitation training device according to the embodiment of the present invention without the cylindrical shell and the annular guide rail packaging shell;

Fig. 3 is a schematic structural view of the hand rehabilitation training device according to the embodiment of the present invention without the ring guide rail packaging shell and the ring guide rail cover plate;

Fig. 4 is the longitudinal sectional view of the hand rehabilitation training device of the embodiment of the present invention;

Fig. 5 is the plan view of the initial state of the hand rehabilitation training device of the embodiment of the present invention;

6 is a top view of the dorsiflexion and palmar flexion training mode state one of the hand rehabilitation training device according to the embodiment of the present invention;

Fig. 7 is the top view of the dorsiflexion and palmar flexion training mode state 2 of the hand rehabilitation training device according to the embodiment of the present invention;

Fig. 8 is a front view of the internal rotation and external rotation training mode state 1 of the hand rehabilitation training device according to the embodiment of the present invention;

Fig. 9 is a front view of state two of internal rotation and external rotation training mode of the hand rehabilitation training device according to the embodiment of the present invention;

Fig. 10 is a side view of the radial flexion and ulnar flexion training mode state one of the hand rehabilitation training device according to the embodiment of the present invention;

Fig. 11 is a side view of the second state of the radial flexion and ulnar flexion training mode of the hand rehabilitation training device according to the embodiment of the present invention;

Fig. 12 is a schematic diagram of the range of motion of the hand rehabilitation training device according to the embodiment of the present invention.

The meanings of the serial numbers in the figure are:

101. Cylindrical shell, 102. Bracelet support base, 103. Six-dimensional torque sensor, 104. Support seat, 105. Disc damper, 106. Connecting disc, 107. Cable;

201. Ring guide rail, 202. Ring guide rail cover plate, 203. Rotation ring, 204. Rotation ring fixed major axis, 205. Rotation ring fixed minor axis, 206. Card edge bearing one, 207. Card edge bearing two, 208. Ring Rail packaging shell, 209. Mechanical limit nails;

301. Rotating block, 302. Rotating block bearing seat, 303. Rotating block bearing, 304. Swing shaft, 305. Arm rest, 306. Fixed strap, 307. Grip sensor bracket, 308. Grip sensor, 309. Grip sensor protective cover.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

As shown in Figures 1 to 4, the hand rehabilitation training device of this embodiment includes three parts: the dorsiflexion and palmar flexion mechanism of the hand, the internal rotation and external rotation mechanism of the hand, and the radial flexion and ulnar flexion mechanism of the hand; wherein, the hand The dorsiflexion and palmar flexion mechanism performs rotational movement at a limited angle on the horizontal plane (that is, the human eye looks down at the hand rehabilitation training device) to realize the training of two physiological actions of the hand dorsiflexion and palmar flexion; the internal and external rotation mechanism of the hand (that is, the human eye looks squarely at the hand rehabilitation training device) to do a limited-angle rotation movement to realize the training of two physiological movements of the hand internal rotation and external rotation; The training of the two physiological movements of radial flexion and ulnar flexion. As shown in Figure 12, the device can realize all-round rehabilitation training with three degrees of freedom of the hand joints.

The hand dorsiflexion and palm flexion mechanism includes a cylindrical shell 101, a bracelet support base 102 and a six-dimensional torque sensor 103, a support seat 104, a disc damper 105 and a connecting disc 106 arranged inside the cylindrical shell 101; The cylindrical shell 101 is fixed on the top of the wristband support base 102, and the bottom of the cylindrical shell 101 is provided with a threading groove, and the cable 107 carried by the six-dimensional torque sensor 103 passes through the threading groove, and the threading groove is designed to avoid The cable 107 that comes with the six-dimensional torque sensor 103 is routed. In addition, the cylindrical shell 101 and the wristband support base 102 are fixedly connected (or clamped) by bolts, so that the cylindrical shell 101 can avoid pinching the six-dimensional torque when rotating in the horizontal direction. The cable 107 of the sensor 103; the wristband support base 102 is used as the support base of the whole hand rehabilitation training device, and the upper plane and the lower plane of the six-dimensional torque sensor 103 are fixedly connected by bolts. Preferably, the six-dimensional torque sensor 103 and The upper computer is communicated and connected, and the six-dimensional torque sensor 103 collects hand motion information (collects the force in the X, Y and Z axis directions of the hand), and transmits the information to the display screen of the upper computer for display, while the rehabilitation training data is stored in As for the upper computer, it can be understood that the hand rehabilitation training device of the present invention can be connected with the external drive mechanism, and the upper computer controls the start of the external drive mechanism according to the force feedback, thereby providing certain assistance or resistance to the direction of motion. It belongs to active and passive hand training, that is, during the interval between passive training and active training, due to the lack of exercise ability of the patient itself, it is a training method that needs to provide auxiliary force or resistance. The top of the six-dimensional torque sensor 103 is fixedly connected with the bottom of the disc damper 105 through the support base 104, and the support base 104 is fixedly connected with the six-dimensional torque sensor 103 and the disc damper 105 by bolts respectively, and the disc damper The top of the device 105 is fixedly connected with the connection disc 106 by bolts. The disc damper 105 can realize the joint stop at will for rehabilitation training on the horizontal plane of dorsiflexion and palmar flexion of the hand. The disc damper 105 has a certain threshold value, and the damping size can be adjusted according to the demand.

The internal rotation and external rotation mechanism of the hand includes an annular guide rail 201, an annular guide rail cover plate 202, a rotating ring 203, two rotating ring fixed major shafts 204, four rotating ring fixed short shafts 205, four card edge bearings one 206 and four Two card edge bearings 207. The ring guide rail 201 is fixedly connected to the connecting disc 107 by bolts, and the front part of the ring guide rail 201 is fixedly connected to the ring guide rail cover plate 202 by bolts to form a chamber for accommodating the rotating ring 203 . Two card edge bearings one 206 are respectively installed on the two ends of the fixed long shaft 204 of the rotating ring, and the two ends of the fixed long shaft 204 of the rotating ring are respectively connected with the lower side fixing holes of the ring guide rail 201 and the ring guide rail cover plate 202. The fixed long axis 204 of the rotating ring is located on the left and right sides of the bottom of the ring guide rail 201 and the ring guide rail cover plate 202 . Two rotating ring fixed short shafts 205 form a group, located on the front and rear sides of the rotating ring 203, two card edge bearings 207 are respectively installed on the two rotating ring fixed short shafts 205, and the two rotating ring fixed short shafts 205 are respectively It is connected with the upper side fixing holes of the ring guide rail 201 and the ring guide rail cover plate 202, and the two sets of rotating ring fixed short shafts 205 are located on the left and right sides of the ring guide rail 201 and the ring guide rail cover plate 202; The second bearing 207 constitutes a circular track for the rotation of the rotating ring 203, and the rotating ring 203 rotates smoothly along the circular track.

Preferably, the hand internal rotation and external rotation mechanism also includes a ring guide rail packaging case 208, and the ring guide rail packaging case 208 is sleeved on the outside of the ring guide rail 201 and the ring guide rail cover plate 202, and is fixedly connected with the ring guide rail 201 by bolts ; The setting of the annular guide rail packaging shell 208 improves the appearance of the complete machine equipment in order not to expose the fixed short axis 205 of the rotating ring and the fixed major axis 204 of the rotating ring to affect the appearance.

Further, the internal rotation and external rotation mechanism of the hand also includes two mechanical limit nails 209, and the two mechanical limit nails 209 are respectively installed on the left and right sides of the upper part of the rotating ring 203, and form a limit with the ring guide rail packaging shell 208. In order to prevent the rotating ring 203 from running out of the track along the ring track, set the mechanical limit nail 209; when performing hand internal rotation and external rotation training, when the movement reaches the designed angle, the ring guide rail packaging shell 208 will touch the mechanical limit. The nail 209 restricts its movement to protect the safety of the patient during training.

The radial and ulnar flexion mechanism of the hand comprises a rotating block 301, two rotating block bearing blocks 302, two rotating block bearings 303, a swing shaft 304, an arm rest 305, a fixed strap 306, a grip sensor support 307, and a grip sensor 308 and grip sensor protective sleeve 309; the two rotating block bearing blocks 302 are fixedly connected with the rotating ring 203 by bolts, and the two rotating block bearings 303 are respectively installed in the two rotating block bearing blocks 302, and the rotating block 301 is sleeved on the swing shaft 304, and the two are closely matched. The two ends of the swing shaft 304 are fixedly connected to the two rotating block bearings 303, and the grip sensor bracket 307 is installed between the rotating block 301 and the arm rest 305. The two are fixed together by bolts, the fixed strap 306 is installed on the arm arm support 305, the arm arm support 305 can play a certain supporting role for the arm during rehabilitation training, and the grip sensor 308 is fixedly connected with the grip sensor bracket 307 , the grip sensor protective cover 309 is sleeved on the outside of the grip sensor 308 . Preferably, the grip sensor 308 is connected with the host computer, and displays the grip strength of the hand on the display screen of the host computer, so as to evaluate the rehabilitation of the user, and save the rehabilitation training data in the host computer. The swing angle of radial flexion and ulnar flexion stops swinging by grip sensor support 307 and ring guide rail packing shell 208 generation interference.

The working process is as follows:

Firstly, the arm is placed on the arm support 305, and the arm is fastened with the fixed strap 306, and then the hand joint is actively trained in three degrees of freedom using the hand rehabilitation training device.

As shown in Figures 5 to 7, when the hand dorsiflexion and palmar flexion are performed, the hand joints drive the disk damper 106 and all the parts above to rotate in the horizontal plane, so that the training of hand dorsiflexion and palmar flexion can be realized.

As shown in Fig. 8 and Fig. 9, when the hand rotates internally and externally, the hand joints drive the rotating ring 203 to rotate along the ring track formed by the card edge bearing 1 206 and the card edge bearing 2 207. When the motion reaches When designing the angle, if the mechanical limit nail 209 is encountered to limit its continued movement, the training of internal rotation and external rotation of the hand can be realized.

As shown in Fig. 10 and Fig. 11, when performing the radial flexion and ulnar flexion of the hand, the hand joint drives the rotating block 301 and the swing shaft 304 to do a pitch swing together, and stops when the grip sensor bracket 307 touches the ring guide rail packaging shell 208 Swing, you can realize the training of radial flexion and ulnar flexion of the hand.

It should be noted that, in this document, the terms "comprising", "comprising" or any other variation thereof are intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or apparatus.

Finally, it should be noted that the above descriptions are only preferred embodiments of the present invention, and are only used to illustrate the technical solution of the present invention, and are not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present invention are included in the protection scope of the present invention.

Claims

A hand rehabilitation training device, characterized in that it comprises:

The dorsiflexion and palmar flexion mechanism of the hand performs a rotation movement with a limited angle on the horizontal plane to realize the training of two physiological actions of dorsiflexion and palmar flexion of the hand;

The internal rotation and external rotation mechanism of the hand makes a limited angle of rotation on the vertical plane to realize the training of two physiological movements of the internal rotation and external rotation of the hand;

The radial and ulnar flexion mechanism of the hand performs the pitching swing with a limited angle to realize the training of two physiological movements of the radial flexion and ulnar flexion of the hand.
The hand rehabilitation training device according to claim 1, characterized in that, the dorsiflexion and palmar flexion mechanism of the hand comprises a cylindrical shell, a bracelet support base, and a six-dimensional torque sensor, a support seat, and a circle arranged inside the cylindrical shell. A disk damper and a connecting disk; the cylindrical shell is fixed above the supporting base of the wristband, and the lower part of the cylindrical shell is provided with a threading groove, and the cables of the six-dimensional torque sensor pass through the threading groove; The upper plane of the supporting base of the wristband is fixedly connected with the lower plane of the six-dimensional torque sensor, the top of the six-dimensional torque sensor is fixedly connected with the bottom of the disc damper through the support seat, and the top of the disc damper is connected with the bottom of the disc damper. The connection disc is fixedly connected.
The hand rehabilitation training device according to claim 2, wherein the internal rotation and external rotation mechanism of the hand comprises an annular guide rail, an annular guide rail cover plate, a rotating ring, a fixed long axis of the rotating ring, a fixed short axis of the rotating ring, a clip side bearing 1 and card side bearing 2; the annular guide rail is fixedly connected to the connecting disc, and the front part of the ring guide rail is fixedly connected to the ring guide rail cover to form a chamber for accommodating the rotating ring; the two card side bearings are respectively Installed on both ends of the fixed long shaft of the rotating ring, the two ends of the fixed long shaft of the rotating ring are respectively connected with the lower fixing holes of the ring guide rail and the ring guide rail cover; two card edge bearings are respectively installed on the two rotating rings On the fixed short shaft, two fixed short shafts of the rotating ring are respectively connected with the upper fixing holes of the ring guide rail and the ring guide rail cover plate; the first card edge bearing and the second card edge bearing form a circular track for the rotation of the rotating ring.
The hand rehabilitation training device according to claim 3, wherein the internal rotation and external rotation mechanism of the hand also includes a ring guide rail packaging case, and the ring guide rail packaging case is sleeved on the ring guide rail and the ring guide rail cover plate. external.
The hand rehabilitation training device according to claim 4, characterized in that, the internal rotation and external rotation mechanism of the hand also includes two mechanical limit nails, and the two mechanical limit nails are respectively installed on the left and right sides of the upper part of the rotating ring. Both sides form a limit fit with the ring guide rail packaging shell.
The hand rehabilitation training device according to claim 3, wherein the radial flexion and ulnar flexion mechanism of the hand comprises a rotating block, two rotating block bearing seats, two rotating block bearings, a swing shaft, an arm arm rest and fixed straps; the two rotating block bearing seats are fixedly connected to the rotating ring, the two rotating block bearings are respectively installed in the two rotating block bearing seats, and the rotating block is fixed on the swing shaft. The two ends of the swing shaft are fixedly connected with two rotating block bearings, one end of the arm support is installed on the top surface of the rotating block, and the fixed strap is installed on the arm support.
The hand rehabilitation training device according to claim 6, wherein the radial and ulnar flexion mechanism of the hand also includes a grip sensor bracket, a grip sensor and a grip sensor protective cover, and the grip sensor bracket is installed between the rotating block and the grip sensor. Between the arm rests, the grip sensor is fixedly connected to the grip sensor bracket, and the grip sensor protective suit is sheathed on the outside of the grip sensor.