WO2023279772A1 - 一种下肢康复训练治疗装置 - Google Patents

一种下肢康复训练治疗装置 Download PDF

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Publication number
WO2023279772A1
WO2023279772A1 PCT/CN2022/082364 CN2022082364W WO2023279772A1 WO 2023279772 A1 WO2023279772 A1 WO 2023279772A1 CN 2022082364 W CN2022082364 W CN 2022082364W WO 2023279772 A1 WO2023279772 A1 WO 2023279772A1
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Prior art keywords
rotating
bracket
lower limb
fixing
treatment device
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PCT/CN2022/082364
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English (en)
French (fr)
Inventor
胡大勇
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合肥慧加医疗科技有限公司
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Publication of WO2023279772A1 publication Critical patent/WO2023279772A1/zh

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244Hip
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H2001/0203Rotation of a body part around its longitudinal axis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01Constructive details
    • A61H2201/0119Support for the device
    • A61H2201/0138Support for the device incorporated in furniture
    • A61H2201/0142Beds
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive

Definitions

  • the invention relates to the field of limb rehabilitation, in particular to a lower limb rehabilitation training treatment device.
  • the lower limb CPM instrument can only flex and extend; and there are fewer joints that can be used, mainly the knee joint and ankle joint, especially in the abduction and external rotation position of the hip joint and the lower limbs.
  • the training equipment on passive coordination is almost blank.
  • the hip joint is an important joint connecting the femur and the pelvis. While supporting the upper body, it is also responsible for all activities of the lower body.
  • the main feature of the hip joint is that it can achieve a full range of rotations such as forward, backward, left, right, and the longitudinal axis of the limb, so it is called a "full motion joint".
  • the present invention designs a training device driven by dual motors to realize the multi-dimensional movement of the lower limb joints.
  • the device adopts a double-link support mechanism, and the calf support rod will receive more reliable motion support and the support stability of the equipment. stronger.
  • the object of the present invention is to provide a lower limb rehabilitation training treatment device, which can simulate various actions of the hip joint by driving the hip joint to perform longitudinal rotation in the direction of front, rear, left, right, and the longitudinal axis of the limbs, etc., in line with the physiological state of the hip joint.
  • the present invention provides the following technical solutions:
  • a lower limb rehabilitation training treatment device comprising a base, a bed body, a support frame connecting the base and the bed body, a lower limb training system is fixedly connected to one side of the bed body, and the lower limb training system includes a rotating mechanism, a moving mechanism, and a supporting mechanism
  • the rotating mechanism includes a rotating member that can drive the moving mechanism to rotate and swing as a whole
  • the moving mechanism includes a translation member that is fixed on the rotating member and can drive the leg support in the supporting mechanism to move horizontally.
  • the rotating member includes a fixed plate, a rotating fixing member arranged on both sides of the fixing plate to play a supporting role, and a rotating shaft arranged between the two rotating fixing members, the rotating shaft and the rotating power member connected to the output.
  • a bearing is embedded in the rotating fixture, and a boss for engagement and fixing is provided between the rotating fixture and the fixing plate.
  • the translation member includes a support rail, a screw rod fixed on the support rail for driving the slider to move horizontally, the support rail is fixedly connected to the rotating shaft, and the slider is connected to one end of the leg bracket Fixed connection.
  • the leg support includes a first bracket for fixing the thigh, a second bracket for fixing the calf and a foot bracket for fixing the foot, the first bracket and The second bracket is connected in rotation, the second bracket is connected in rotation with the foot bracket, the foot bracket is connected with the slider, and the end of the first bracket away from the foot bracket is connected with the rotating fixture .
  • the control system includes an information input module, an information output module and a controller, the controller is connected with several driving motors, the control system is connected with a power module, and the information input module is connected with the information
  • the processing module is connected, and the information processing module is connected with the controller.
  • the present invention has a novel structure, and the device drives the hip joint to perform all-round rotations in front, back, left, and right, so as to simulate various actions of the hip joint in daily life, and can fully train the hip joint.
  • the present invention can not only control the flexion and extension of the legs to train the hip joints in the front and rear orientations, simulating the state of people walking, but also control the rotation of the legs in the abduction and external rotation positions of the lower limbs to train the hip joints in the left and right orientations, simulating At the same time, the present invention can control the device through the program, so that the device can form a personalized training method for patients with different needs, and can effectively improve the freedom of movement of the patient's hip joint to a certain extent, so that the patient's hip joint more diverse training.
  • Fig. 1 is a kind of overall structure schematic diagram of lower limbs rehabilitation training treatment device
  • Fig. 2 is a structural schematic diagram of leg support translation and rotation in a lower limb rehabilitation training treatment device
  • Fig. 3 is a schematic diagram of module connection of a control system in a rehabilitation training device
  • Fig. 4 is a schematic diagram of the use flow of a rehabilitation training device
  • 10-bed body 11-base, 12-supporting frame, 20-moving mechanism, 21-supporting track, 22-screw rod, 23-slider, 24-clamping fixture, 30-rotating mechanism, 31 -fixed plate, 32-rotating fixing part, 33-rotating shaft, 34-positioning part, 35-rotating power part, 41-first bracket, 42-second bracket, 43-bandage, 44-foot bracket .
  • a lower limb rehabilitation training treatment device includes a base, a bed body, a support frame connecting the base and the bed body, and a lower limb training system arranged on one side of the bed body. lift.
  • the lower limb training system includes a rotating mechanism, a moving mechanism and a supporting mechanism.
  • the lower limb training system is connected to a control system.
  • the rotating mechanism includes a rotating member that can drive the moving mechanism to swing as a whole.
  • the moving mechanism includes a rotating member fixed on the rotating member.
  • the translation piece that the leg support in the support mechanism moves horizontally one end of the leg support is fixed with the translation piece and is used to place and support both legs of the patient's lower limbs.
  • the rotating mechanism and the moving mechanism it can drive the leg support to move in the horizontal direction and the rotating part to swing back and forth in the axial direction, so that the lower limb training system can drive the patient's lower limbs to flex and extend back and forth, and drive the patient's body.
  • the hip joint is rotated, and the hip joint is passively adjusted to abduct and externally rotate the body, that is, to simulate the movement state of a human being when walking and turning.
  • the rotating member also includes a fixing plate, a rotating fixing member arranged on both sides of the fixing plate to play a supporting role, and a rotating shaft 33 arranged between the two rotating fixing members 32, bearings are embedded in the rotating fixing member, and the The rotating shaft realizes the rotation relative to the rotating fixed part through the bearing, and the rotating shaft is connected with the output end of the rotating power part to drive the rotating shaft to rotate back and forth in different directions.
  • the fastening bolts on the platform connect the rotating fixture with the fixed plate 31.
  • the present invention can not only maintain the degree of fastening between the two, but also increase the connection between the two. Rigidity, convenient to the assembly of the overall structure of the present invention simultaneously.
  • the translation member includes a support track 21, a screw rod fixed on the support track for driving the slider 23 to move horizontally, the support track is fixedly connected with the rotating shaft, and the screw rod drives it to rotate through the action of the drive member.
  • the function of the component can be but not limited to drive the motor, the slider is slidably connected with the support track, the slider is connected with the leg bracket 41, and can drive one end of the leg bracket to move under the action of the slider.
  • the leg support includes a first bracket for fixing the thigh, a second bracket for fixing the calf, and a foot bracket for fixing the foot, the first bracket is rotatably connected with the second bracket, The second bracket is rotatably connected with the foot bracket, the foot bracket is connected with the slider, and the end of the first bracket away from the foot bracket is connected and fixed with the rotating fixture.
  • the synchronous action of the two sets of moving mechanisms can drive the patient's two legs to move separately, and can bend and extend independently and at the same time to simulate the normal walking of the human body.
  • the present invention can realize multiple training forms of simultaneous flexion and extension of both legs, flexion and extension of one leg, and alternate flexion and extension of both legs according to the training needs of patients.
  • the legs can be valgus trained, and the hip joints on both sides of the patient can also be trained synchronously.
  • the present invention not only It can complete the flexion and extension of the legs and the rotation of the hip joints on both sides. It can not only simulate the walking training of the lower limbs, but also simulate the turning movement training, which increases the training methods for the lower limbs of patients. Adjust the parameters of lower limb flexion and extension and hip joint rotation to meet the rehabilitation needs of different patients and improve the efficiency of lower limb recovery.
  • the moving mechanism, the rotating mechanism and the control system form a rehabilitation treatment system.
  • the control system is electrically connected to the driving part of the moving mechanism and the rotating power part of the rotating mechanism.
  • the motion frequency of the rotating power part is controlled, and under the action of different motions of the moving mechanism and the rotating mechanism, various motion rehabilitation modes of the rehabilitation treatment bed can be realized.
  • the control system includes an information input module, an information output module and a controller, the controller is connected with several driving motors, the control system is connected with a power supply module, the information input module is connected with an information processing module, and the information
  • the processing module is connected with the controller, and under the action of the controller, it can control the driving motor to be turned on or off.
  • An emergency module is provided between the power supply output terminal and the power module, under the action of the emergency module, it can directly control the on-off of the power module, and can stop the device in an emergency.
  • the algorithm steps in the lower limb rehabilitation training device are;
  • Step 1 Input motion parameters into the information input module (through the display screen or buttons):
  • Step 2 the information processing module processes the input motion parameters, and transmits the processed signal to the controller.
  • Step 3 The drive motor connected to the controller receives the signal, forms the exercise mode corresponding to the rehabilitation training device and starts until the exercise ends;
  • Step 4 During the exercise, if the user feels discomfort, press the emergency button, and the rehabilitation training device will be powered off.
  • the exercise time parameter in the first step can be set to 0-360min or continuous 24h mode
  • the knee-bending angle parameter in the first step can be set to 0-90° ⁇ 10%
  • the knee-bending speed can be set to ⁇ 10°/ s ⁇ 10%
  • the hip abduction angle in step 1 can be set to 0-55° ⁇ 10%
  • the hip abduction speed can be set to 10°/s ⁇ 10%.
  • the user With the assistance of the control system, the user sets the motion parameters in step 1, and the rotation mechanism in step 2 cooperates with the translation component to perform corresponding motions in different modes to achieve auxiliary exercise for the patient's hip and knee joints.
  • the multi-mode operation in step 2 drives the various structures in the drive assembly to run through several drive motors in the control system, so that the support assembly can drive the human hip joint and knee joint to perform exercise training synchronously, and realize the role of assisting the human joint movement.
  • the emergency stop button by setting the emergency stop button, the user can automatically stop the operation of the training device when he feels discomfort.
  • the start and stop of the training device can also be controlled by setting a pressure sensor.
  • the rehabilitation treatment system can realize the following modes:
  • the legs flex and extend asynchronously, the left hip joint moves to the left, and the right hip joint moves to the right;
  • the user can adjust the parameters of the control device, enter the advanced mode, and adjust the direction of flexion and extension of the left and right legs and the speed of movement, the direction and speed of rotation of the left and right hip joints, and can be applied
  • the user group has been expanded to a certain extent, and the effect of rehabilitation treatment has been improved.
  • the present invention When the present invention is used, first the user inputs exercise parameters into the training device through the display screen or buttons, such as: exercise time, knee flexion angle and hip abduction angle; after starting the training device under the action of the control system, the rotating power part drives the rotation The moving part and the translation part fixed on the rotating part rotate synchronously and repeatedly swing back and forth to provide continuous exercise training for the patient's hip joint.
  • the translation part can drive the foot bracket to move horizontally on the support track , continuously and repeatedly extend and shorten the linear length of the leg support, drive the patient's legs to flex and stretch, and perform exercise training on the patient's lower limbs.
  • the training device and the control system it can Instructions entered by patients or rehabilitation doctors provide "customized" rehabilitation training for patients, effectively improving the user's training effect on bones and joints of the lower limbs.
  • the invention can drive the patient to carry out the exercise training of the hip joint and the legs of the lower limbs through the rotation mechanism and the translation mechanism. Exercises can be carried out separately or at the same time, providing patients with a variety of lower limb training modes. Compared with the relatively single training equipment in the prior art, the present invention can flex and extend the patient's legs and hip joints. The rotating training can accurately realize the targeted rehabilitation training for each patient, and effectively improve the patient's exercise rehabilitation effect on the joints of the lower limbs.

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  • Pain & Pain Management (AREA)
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Abstract

一种下肢康复训练治疗装置,涉及肢体康复领域,通过该装置驱使髋关节进行前后左右的全方位转动,以模拟人在日常生活中髋关节进行的多种动作,能够对髋关节进行充分训练,相较于现有技术,本装置不仅能够控制双腿的屈伸以对髋关节进行前后方位的训练,模拟人在走路时的状态,而且能够控制双腿的转动以对髋关节进行左右方位的训练,模拟人在转身时的状态,同时本装置能够通过程序控制,使装置能够为需求不同的患者提供个性化的训练方式,在一定程度上能够提高患者髋关节的活动自由度,使患者髋关节能够得到更加多样化的训练。

Description

一种下肢康复训练治疗装置 技术领域
本发明涉及肢体康复领域,具体是一种下肢康复训练治疗装置。
背景技术
现有CPM类康复器械的关节活动自由度不足,比如下肢CPM仪只能屈伸;并且可使用的关节较少,主要是膝关节和踝关节,特别是在髋关节外展外旋体位和双下肢被动协调性上的训练器械几乎为空白。而且髋关节是连接大腿骨与骨盆的重要关节,在支撑上半身的同时,更负责下半身所有的活动。髋关节的主要特征是可以向前、向后、向左、向右和肢体纵轴方向实现纵向旋转等全方位的转动,因此被称为“全动关节”。
基于上述问题,本发明设计了一种双电机驱动实现下肢关节多维度运动的训练装置,同时该装置采用双连杆支持机构,小腿支持杆件将得到更加可靠的运动支持,设备的支持稳定性更强。
发明内容
本发明的目的在于提供一种下肢康复训练治疗装置,通过驱使髋关节进行前后左右和肢体纵轴方向实现纵向旋转等符合髋关节生理状态的全方位转动,能够模拟髋关节的多种动作,以解决上述背景技术中提出的问题。
为实现上述目的,本发明提供如下技术方案:
一种下肢康复训练治疗装置,包括底座、床体、连接底座和床体的支撑架,所述床体一侧固定连接有下肢训练系统,所述下肢训练系统包括旋转机构、移动机构、支撑机构以及控制系统,所述旋转机构包括能够带动移动机构整体旋转摆动的旋转件,所述移动机构包括固定在转动件上且能够带动支撑机构中腿部支架水平移动的平移件。
作为本发明进一步的方案:所述旋转件包括固定板、设置在固定板两侧起到支撑作用的旋转固定件以及设置在两个旋转固定件之间的转轴,所述转轴与旋转动力件的输出端相连。
作为本发明进一步的方案:所述旋转固定件中嵌入轴承,所述旋转固 定件与固定板之间设有用于衔接固定的凸台。
作为本发明进一步的方案:所述平移件包括支撑轨道、固定在支撑轨道上用于驱动滑块水平移动的丝杆,所述支撑轨道与转轴固定相连,所述滑块与腿部支架的一端固定连接。
作为本发明进一步的方案:所述腿部支架包括用于固定大腿的第一托架、用于固定小腿的第二托架以及用于固定脚的脚部托架,所述第一托架与第二托架转动相连,所述第二托架与脚部托架转动相连,所述脚部托架与滑块相连,所述第一托架远离脚部托架的一端与旋转固定件相连。
作为本发明进一步的方案:所述控制系统包括信息输入模块、信息输出模块以及控制器,所述控制器连接有若干个驱动电机,所述控制系统连接有电源模块,所述信息输入模块与信息处理模块相连,所述信息处理模块与控制器相连。
与现有技术相比,本发明的有益效果是:
本发明结构新颖,通过本装置驱使髋关节进行前后左右的全方位转动,以模拟人在日常生活中髋关节进行的多种动作,能够对髋关节进行充分训练,相较于现有技术,本发明不仅能够控制双腿的屈伸对髋关节进行前后方位的训练,模拟人在走路时的状态,而且能够控制双腿在下肢外展外旋体位上的转动对髋关节进行左右方位的训练,模拟人在转身时的状态,同时本发明能够通过程序控制装置,使装置能够为需求不同的患者形成个性化的训练方式,在一定程度上能够有效提高患者髋关节的活动自由度,使患者髋关节能够得到更加多样化的训练。
附图说明
图1为一种下肢康复训练治疗装置的整体结构示意图;
图2为一种下肢康复训练治疗装置中腿部支架平移和转动的结构原理图;
图3为一种康复训练装置中控制系统的模块连接示意图;
图4为一种康复训练装置的使用流程示意图;
图中:10-床体、11-底座、12-支撑架、20-移动机构、21-支撑轨道、22-丝杆、23-滑块、24-夹持固定件、30-旋转机构、31-固定板、32-旋转固定件、33-转轴、34-定位件、35-旋转动力件、41-第一托架、42-第二托架、 43-绑带、44-脚部托架。
具体实施方式
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。
本发明实施例中,一种下肢康复训练治疗装置,包括底座、床体、连接底座和床体的支撑架,以及设置在床体一侧的下肢训练系统,所述支撑架能够根据需要进行机械升降。
所述下肢训练系统包括旋转机构、移动机构以及支撑机构,所述下肢训练系统与控制系统相连,所述旋转机构包括能够带动移动机构整体摆动的旋转件,所述移动机构包括固定在转动件上且支撑机构中的腿部支架水平移动的平移件,所述腿部支架一端与平移件固定且用于放置和支撑患者下肢双腿。在旋转机构与移动机构之间的配合作用下,能够带动腿部支架进行水平方向的位置移动以及转动件轴向的来回摆动,使得下肢训练系统能够带动患者的下肢进行来回屈伸,并带动患者的髋关节进行转动,被动调整髋关节为外展外旋体位,即模拟人在走路和转身时的运动状态。
所述旋转件还包括固定板、设置在固定板两侧起到支撑作用的旋转固定件,以及设置在两个旋转固定件32之间的转轴33,所述旋转固定件中嵌入轴承,所述转轴通过轴承实现相对旋转固定件转动,所述转轴与旋转动力件的输出端相连,以带动转轴进行不同方向的来回转动,所述旋转固定件靠近固定板31的一端设有凸台,通过凸台上的紧固螺栓,将旋转固定件与固定板31相连,相较于现有技术中焊接的方式,本发明不仅能够保持两者之间的紧固程度,同时能够增加两者之间连接的刚性,同时方便对本发明整体结构的组装。
所述平移件包括支撑轨道21、固定在支撑轨道上用于驱动滑块23水平移动的丝杆,所述支撑轨道与转轴固定相连,所述丝杆通过驱动件作用带动其转动,所述驱动件作用可以为但不仅限于驱动电机,所述滑块与支撑轨道滑动相连,所述滑块与腿部支架41相连,在滑块的作用下能够驱 动腿部支架的一端位置进行移动。
所述腿部支架包括用于固定大腿的第一托架、用于固定小腿的第二托架以及用于固定脚的脚部托架,所述第一托架与第二托架转动相连,所述第二托架与脚部托架转动相连,所述脚部托架与滑块相连,所述第一托架远离脚部托架的一端与旋转固定件相连固定。
通过上述两组腿部支架以及对应的两组移动机构和旋转机构,通过两组移动机构的同步作用能够带动患者的两条腿分别运动,可以单独屈伸、同时屈伸,以模拟人体正常行走时的多种状态,相较于仅能够双腿同时进行屈伸的治疗装置,本发明能够根据病患训练需要,实现双腿同步屈伸、一条腿屈伸以及双腿交替屈伸的多种训练形式。同时在两组旋转机构的作用下,能够对双腿进行外翻训练,对患者两侧的髋关节也进行同步训练,相较于仅能够进行腿部屈伸动作训练的现有技术,本发明不仅能够完成双腿屈伸动作而且能够实现两侧髋关节的转动动作,不仅能够对下肢进行模拟行走训练,而且能够模拟转身动作训练,增加了对患者下肢的训练方式,同时能够根据患者实际康复需要,对下肢屈伸运动以及髋关节转动的参数进行调节,以适应不同患者的康复需要,提高患者下肢恢复的效率。
所述移动机构、旋转机构与控制系统形成康复治疗系统,所述控制系统与移动机构的驱动件、旋转机构的旋转动力件电性相连,通过控制装置能够对移动机构的驱动件以及旋转机构的旋转动力件的运动频率进行控制,在移动机构和旋转机构的不同运动作用下,能够实现康复治疗床的多种运动康复模式。
所述控制系统包括信息输入模块、信息输出模块以及控制器,所述控制器连接有若干个驱动电机,所述控制系统连接有电源模块,所述信息输入模块与信息处理模块相连,所述信息处理模块与控制器相连,在控制器的作用下,能够控制驱动电机开启或关闭。供电输出端以及电源模块之间设有应急模块,在应急模块的作用下,能够直接控制电源模块的通断,能够将本装置紧急急停。
如图3所示,所述下肢康复训练装置中的算法步骤为;
步骤一、(通过显示屏或按钮)向信息输入模块中输入运动参数:
A、运动时间;B、屈膝角度、速度;C、髋外展角度、速度。
步骤二、信息处理模块对输入的运动参数进行处理,并将处理信号传递至控制器。
步骤三、与控制器相连的驱动电机接收到信号,形成康复训练装置对应的运动模式并启动直至运动结束;
步骤四、运动过程中,用户感到不适,按压应急按钮,康复训练装置断电。
所述步骤一中的运动时间参数可设置为0-360min或连续24h模式,所述步骤一中的屈膝角度参数可设置为0-90°±10%,屈膝的速度可设置为≤10°/s±10%,所述步骤一中的髋外展角度可设置为0-55°±10%,髋外展的速度可设置为10°/s±10%。
在控制系统的辅助作用下,用户在步骤一中设置了运动参数,步骤二中的旋转机构配合平移组件能够对应进行不同模式下的运动作用,实现对患者髋关节以及膝关节的辅助锻炼。步骤二中的多模式运行通过控制系统中的若干个驱动电机,带动驱动组件中的各个结构运行,使支撑组件能够带动人体髋关节与膝关节同步进行运动训练,实现辅助人体关节运动的作用。所述步骤四中,通过设置急停按钮,在用户自身感受到不适的情况下,可以自主停止训练装置运行,所述步骤四中也可以通过设置压力传感器,对训练装置的启停进行控制。
在上述旋转机构、移动机构以及控制系统之间的配合作用下,所述康复治疗系统能够实现如下模式:
1、双腿同步进行持续屈伸;
2、双腿异步进行持续屈伸;
3、双腿同步进行屈伸且两侧髋关节向同一侧转动;
4、双腿异步进行屈伸且左侧髋关节向左侧移动,右侧髋关节向右侧移动;
5、双腿异步进行持续屈伸,两侧髋关节向同一侧转动;
6、双腿异步进行持续屈伸,左侧髋关节向左侧转动,右侧髋关节向右侧转动;
除上述经典模式外,用户可以对控制装置进行参数调节,进入高级模式,对左腿右腿的屈伸的方向以及移动的速度、左侧右侧髋关节的转动方 向以及转动速度进行调节,能够应用于有着多种康复需求的患者,在一定程度上扩大了用户群体,提升了患者康复治疗的效果。
在本发明使用时,首先用户通过显示屏或按钮向训练装置中输入运动参数,如:运动时间、屈膝角度以及髋外展角度;在控制系统的作用下启动训练装置后,旋转动力件带动旋转件以及固定在旋转件上的平移件同步进行转动且重复来回摆动,对患者的髋关节进行持续的运动训练,同时根据患者的设置指令,平移件能够带动脚部托架在支撑轨道上水平移动,持续且重复的伸长和缩短腿部支架的直线长度,带动患者的腿部进行屈伸,对患者的下肢双腿进行运动训练,本发明中通过训练装置与控制系统的配合作用下,能够根据患者或康复医生输入的指令,对患者进行“定制化”的康复训练,有效提升用户对下肢骨骼与关节的训练效果。
本发明通过旋转机构和平移机构能够带动患者同时进行髋关节以及下肢双腿的运动训练,同时髋关节与双腿的运动通过控制系统对各自的驱动件进行分别控制,使髋关节与双腿的运动能够分别单独进行,也能够同时进行训练,为患者提供了多样化的下肢训练模式,相较于现有技术中较为单一的训练器械,本发明能够对患者的双腿进行屈伸以及髋关节进行旋转式的训练,能够精准实现每个患者的具有针对性的康复训练,有效提升患者对下肢关节的运动康复效果。
对于本领域技术人员而言,显然本发明不限于上述示范性实施例的细节,而且在不背离本发明的精神或基本特征的情况下,能够以其他的具体形式实现本发明。因此,无论从哪一点来看,均应将实施例看作是示范性的,而且是非限制性的,本发明的范围由所附权利要求而不是上述说明限定,因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。
此外,应当理解,虽然本说明书按照实施方式加以描述,但并非每个实施方式仅包含一个独立的技术方案,说明书的这种叙述方式仅仅是为清楚起见,本领域技术人员应当将说明书作为一个整体,各实施例中的技术方案也可以经适当组合,形成本领域技术人员可以理解的其他实施方式。

Claims (6)

  1. 一种下肢康复训练治疗装置,包括底座、床体、连接底座和床体的支撑架,其特征在于,所述床体一侧固定连接有下肢训练系统,所述下肢训练系统包括旋转机构、移动机构、支撑机构以及控制系统,所述旋转机构包括能够带动移动机构整体旋转摆动的旋转件,所述移动机构包括固定在转动件上且能够带动支撑机构中腿部支架水平移动的平移件。
  2. 根据权利要求1所述的一种下肢康复训练治疗装置,其特征在于,所述旋转件包括固定板、设置在固定板两侧起到支撑作用的旋转固定件以及设置在两个旋转固定件之间的转轴,所述转轴与旋转动力件的输出端相连。
  3. 根据权利要求2所述的一种下肢康复训练治疗装置,其特征在于,所述旋转固定件中嵌入轴承,所述旋转固定件与固定板之间设有用于衔接固定的凸台。
  4. 根据权利要求2所述的一种下肢康复训练治疗装置,其特征在于,所述平移件包括支撑轨道、固定在支撑轨道上用于驱动滑块水平移动的丝杆,所述支撑轨道与转轴固定相连,所述滑块与腿部支架的一端固定连接。
  5. 根据权利要求4所述的一种下肢康复训练治疗装置,其特征在于,所述腿部支架包括用于固定大腿的第一托架、用于固定小腿的第二托架以及用于固定脚的脚部托架,所述第一托架与第二托架转动相连,所述第二托架与脚部托架转动相连,所述脚部托架与滑块相连,所述第一托架远离脚部托架的一端与旋转固定件相连。
  6. 根据权利要求1所述的一种下肢康复训练治疗装置,其特征在于,所述控制系统包括信息输入模块、信息输出模块以及控制器,所述控制器连接有若干个驱动电机,所述控制系统连接有电源模块,所述信息输入模块与信息处理模块相连,所述信息处理模块与控制器相连。
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