CN103054690B - An intelligent rehabilitation device for spasticity of lower limbs - Google Patents

Abstract

The invention relates to an intelligent recovery device for lower limb spasm. The intelligent recovery device comprises a chassis, a seat, a thigh supporting mechanism, a shank supporting mechanism, a motor driving mechanism, a foot plate fixing mechanism, a mechanical safety position-limit mechanism and a control module. The thigh supporting mechanism comprises a support rod and a T-shaped support, the shank supporting mechanism comprises a front-back translation rod, a left-right translation rod, a lower support rod, a vertical translation rod, an arc support and a bandage, and the motor driving mechanism comprises a front-back translation support, a motor support, a bearing seat and a motor external member. The foot plate fixing mechanism comprises a foot plate, a plurality of bandages, a tilt angle sensor, a foot lateral plate, a torsion sensor and a coupler, the control module comprises three electrode plates, a data acquisition unit, a motor driver and a data analysis unit arranged on a computer, and the data analysis unit comprises a calculation module and a circuit safety position-limit module. The intelligent recovery device enables a patient to participate in recovery control through feedback of electrical signals and joint moment on surfaces of muscles of the patient, increases initiative intervention of the patient, and accordingly promotes rehabilitation efficacy. The intelligent recovery device can be widely applied to recovery of the lower limb spasm.

Description

An intelligent rehabilitation device for spasticity of lower limbs

technical field

The device relates to an intelligent rehabilitation device, in particular to an intelligent rehabilitation device for lower limb spasm.

Background technique

Cerebrovascular disease is one of the diseases with the highest mortality and disability rate in my country. During the rehabilitation of stroke patients, spasticity and/or contractures of the muscles around the ankle severely limit their ability to walk and live independently.

The development of spasticity and/or contracture in stroke patients has been attributed to changes in neural reflexes following cerebrovascular disease and associated shortening of muscle/tendon tissue due to persistent hypertonia. The common clinical prevention and treatment method is the passive movement of the joint. The therapist drives the patient's ankle joint to and fro within its range of motion by hand or using a "continuous passive stretching" device, and stretches the muscles around the ankle joint to achieve The purpose of preventing or improving spasticity and/or contracture. Studies have shown that continuous passive movement of the ankle joint has a certain effect on reducing ankle stiffness in subjects. However, the limitations of these two methods are also obvious. First of all, the determination of the range of motion of the ankle joint depends on the subjective feeling of the therapist or patient, so the muscles often cannot be fully stretched under the maximum range of motion of the joint. Secondly, the existing "continuous passive stretching" device lacks real-time feedback of the nerve signals of the relevant muscles during the exercise process. It simply drives the ankle to reciprocate, and the rehabilitation effect is not very obvious.

Contents of the invention

In view of the above problems, the object of the present invention is to provide an intelligent rehabilitation device for spasticity of lower limbs designed according to the nerve reflex and muscle biomechanical characteristics of stroke patients.

In order to achieve the above object, the present invention adopts the following technical solutions: an intelligent rehabilitation device for lower limb spasticity, characterized in that it includes a chassis made of a profile with a mounting groove, and the top surface of the rear part of the chassis is fixedly connected to a seat The chassis in front of the seat is connected with a thigh support mechanism, a calf support mechanism, a motor drive mechanism, a foot plate fixing mechanism and a control module; the thigh support mechanism includes a support rod fixedly connected to the chassis, The vertical end of a T-shaped frame is inserted into the support rod, and the two are slidably connected by a locking member; the calf support mechanism includes a front and rear translation rod, which is slidably connected to the bottom frame by a locking member, One side of the front and rear translation rods is slidably connected to a left and right translation rod through a locking member, the top surface of the left and right translation rods is fixedly connected to a support rod, and the lower support rod is slidably connected to an up and down translation rod through a locking member. The top of the up and down translation rod is rotatably connected to an arc-shaped support frame through a locking piece, and a strap is fixedly connected to the inside of the arc-shaped support frame; the motor drive mechanism includes a front and rear translation frame, which is slidably connected to the On the bottom frame, the top of the front and rear translation frame is slidably connected to a motor bracket through a locking member, and the top of the motor bracket is fixedly connected to a motor kit with an encoder and a reducer, and the output shaft of the motor kit is connected to the One is arranged on the bearing seat on the top of the motor bracket; the foot plate fixing mechanism includes a foot plate, and a plurality of straps are arranged on the foot plate, and an inclination sensor is arranged on the back of the foot plate; one side of the foot plate is provided with a foot Side plate, the upper part of the foot side plate is connected to a coupling through a torque sensor, and the other end of the coupling is connected to the output shaft of the motor kit; the control module includes three electrode pieces, a Data acquisition unit, a motor driver and a data analysis unit arranged on the computer, the data analysis unit includes a calculation module; three described electrode sheets are respectively arranged at the patient's soleus, gastrocnemius, tibialis anterior muscle place, It is used to collect the electrical signal of the corresponding muscle surface of the patient and send it to the data collection unit; the data collection unit also collects the torque signal from the torque sensor and the inclination signal from the inclination sensor, and sends each The electrical signal, torque signal and inclination signal of the muscle surface are transmitted to the data analysis unit in the computer, and the calculation module of the data analysis unit obtains the calculated values of the speed, steering and output torque of the motor during the stretching process, and Send the calculated value to the motor driver to control the speed, steering and output torque of the motor during the stretching process.

It also includes a mechanical safety limit mechanism that limits the swing range of the foot side plate, the mechanical safety limit mechanism includes a swing pin and two positioning pins; the swing pin is arranged on the coupling, the A row of mounting holes is provided on the side of the bearing seat, and the two positioning pins are respectively arranged in a mounting hole of the bearing seat on both sides of the swing pin.

The data analysis unit is also provided with a circuit safety limit module, and the circuit safety limit module is used to set the maximum value of the speed, steering and output torque of the motor during the stretching process; at this time, the data analysis unit The calculation module compares the calculated value of the speed, steering and output torque of the motor with the corresponding maximum value set by the circuit safety limit module: if the corresponding maximum value is exceeded, the corresponding maximum value is output to the The motor driver; if it is not exceeded, output the calculated value to the motor driver to control the speed, steering and output torque of the motor during the stretching process.

The front and rear translation rods, left and right translation rods, lower support rods and up and down translation rods in the shank support mechanism, and the front and rear translation frames and motor brackets in the motor drive mechanism are all made of profiles with installation grooves.

The data analysis unit is a computer program written by LabVIEW software.

The two horizontal ends of the T-shaped frame of the thigh support mechanism are respectively provided with thickened flexible objects, and the T-shaped frame is also used to fix the thighs through additional straps.

The present invention has the following advantages due to the adoption of the above technical scheme: 1. The present invention is provided with a torque sensor, an angle sensor and a control that includes three electrode sheets, a data acquisition unit, a data analysis unit and a motor driver module, the data analysis unit calculates the speed, steering, and output torque of the motor based on the electrical signals of the muscle surface measured by the three electrode sheets, as well as the torque and angle signals of the ankle joint movement, so the present invention proposes the idea of active stretching for the first time , It is no longer a simple and blind stretching of the patient by the stretching device, but through the feedback of his own muscle electrical signals and joint torque, he allows himself to participate in the rehabilitation control through the nerves, increasing the patient's active intervention and improving the rehabilitation effect. 2, the present invention is owing to being provided with the T-shaped frame that translates up and down in the thigh support mechanism, is provided with front and back, left and right, up and down translation rods in the shank support mechanism, is provided with the front and rear translation frame and the motor support in the motor drive mechanism, in the motor drive mechanism Movable foot side plates are arranged in the drive mechanism, and these mechanisms have more degrees of freedom, so the present invention can make the patient be in a more comfortable sitting posture and leg position, and the translation adjustment is very simple. 3. In addition to setting a mechanical safety limit mechanism, the present invention also sets a circuit safety limit module in the data analysis unit. The circuit safety limit module can set the speed, steering and output torque of the motor during the stretching process. The maximum value, so the present invention can effectively ensure that the motor drive mechanism rotates within the limit motion range of the human body, improving safety. 4. In the present invention, since the base, front and rear translation rods, left and right translation rods, lower support rods, up and down translation rods in the calf support mechanism, front and rear translation frames in the motor drive mechanism, and motor brackets are all made of profiles, the connection of the present invention is simple and easy. disassembly. The invention can be widely used in the research of intelligent rehabilitation of lower limb spasticity, and serves the rehabilitation cause of stroke patients.

Description of drawings

Fig. 1 is a structural representation of the present invention

Fig. 2 is the structural representation of control module of the present invention

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

As shown in Fig. 1 and Fig. 2, the present invention includes an underframe 1 made by connecting profiles, and the profiles of the underframe 1 all have installation grooves extending along the length direction of the profiles. A seat 2 is fixedly connected on the top surface of the rear part of the chassis 1, and a thigh support mechanism 3, a calf support mechanism 4, a motor drive mechanism 5, a foot plate fixing mechanism 6 and A control module 7 .

The thigh supporting mechanism 3 comprises a support rod 31 fixedly connected to the underframe 1, a vertical end of a T-shaped frame 32 for supporting the thigh is inserted in the support rod 31, and the two are slidably connected by a locking member. The two horizontal ends of the T-shaped frame 32 are respectively provided with thickened flexible objects, and the T-shaped frame 32 can also be equipped with straps to fix the thighs.

The calf support mechanism 4 includes a front and rear translation rod 41 that is slidably connected to the chassis 1 through a locking member, and a left and right translation rod 42 is slidably connected to one side of the front and rear translation rod 41 through a locking member, and the top surface of the left and right translation rod 42 is fixed. Connect the support rod 43; the lower support rod 43 is slidably connected to an up and down translation rod 44 through the locking member, and the up and down translation rod 44 is connected to an arc support frame 45 through the lock member rotation, and a strap is fixedly connected in the arc support frame 45 46.

The motor drive mechanism 5 includes a front and rear translation frame 51, and the front and rear translation frame 51 is slidably connected to the underframe 1 by a locking member. The motor kit 53; the motor kit 53 includes an encoder 54, a motor 55 and a reduction box 56;

Foot plate fixing mechanism 6 comprises a foot plate 61, and some straps 62 are arranged on the foot plate 61, and an inclination sensor 63 is arranged on the back of the foot plate 61; a foot side plate 64 is arranged on one side of the foot plate 61, and a torque sensor passes through the top of the foot plate 64 65 connects a shaft coupling 66, and the other end of shaft coupling 66 is connected on the output shaft of motor kit 53. A swing pin 67 is fixedly arranged on the shaft coupling 66 , and a row of mounting holes is arranged on the side of the bearing seat 57 , and a positioning pin 68 is respectively installed in a mounting hole of the bearing seat 57 on both sides of the swing pin 67 .

As shown in Figure 2, the control module 7 of the present invention comprises three electrode sheets 71, 72, 73, a data acquisition unit 74, a data analysis unit 76 and a motor driver 77 arranged on a computer 75, and the data analysis unit 76 includes A circuit safety limit module and a calculation module; the circuit safety limit module is used to set the maximum value of the speed, steering and output torque of the motor 55 during the stretching process; the calculation module is used to obtain the maximum value of the motor 55 during the stretching process The calculated values of speed, steering and output torque are compared with the corresponding maximum value set in the circuit safety limit module, and finally output to the motor driver 77 .

The electrode sheets 71, 72, and 73 are attached to the soleus, gastrocnemius, and tibialis anterior muscles of the patient respectively, and are used to collect electrical signals on the corresponding muscle surfaces of the patient, and send them to the data acquisition unit 74; the data acquisition unit 74 also collects the inclination sensor 63 The inclination signal that transmits and the torque signal that torque transducer 65 transmits, and the electric signal of each muscle surface, torque signal and inclination signal are passed into the data analysis unit 76 in the computer 75, and the calculation module of data analysis unit 76 obtains by analyzing The calculation value of the speed, steering and output torque of the motor 55 during the stretching process, and compares the calculation value with the corresponding maximum value set in the circuit safety limit module: if it exceeds its corresponding maximum value, the calculation module outputs its The corresponding maximum value is given to the motor driver 77; if not exceeded, the calculation module outputs the calculated value to the motor driver 77, and the motor driver 77 controls the speed, steering and output torque of the motor 55 during the stretching process.

In the foregoing embodiment, the base 1, the front and rear translation rods 41, the left and right translation rods 42, the lower support rod 43, the up and down translation rods 44 in the shank support mechanism 4, the front and rear translation frames 51 and the motor bracket 52 in the motor drive mechanism 5 are all adopted along the The profile is made with installation grooves in the length direction, which is simple to connect and easy to disassemble.

In the above embodiment, the swing pin 67 and the two positioning pins 68 form a mechanical safety limit mechanism. The patient can limit the range of motion of the swing pin 67 by setting the positions of the two positioning pins 68 , so as to limit the swing range of the foot side plate 64 .

In the above embodiments, the data analysis unit 76 is a computer program written by using LabVIEW software.

When utilizing the present invention to carry out the intelligent rehabilitation of lower limb spasticity, comprise the following steps:

1) The patient sits on seat 2;

2) Loosen the locking piece in the thigh support mechanism 3, place the patient's thigh on the thigh support frame 31, adjust the thigh support frame 31 to a proper position, and then lock the locking piece;

3) Loosen the locking parts in the calf support mechanism 4, place the patient's calf on the arc support frame 45, and adjust the front and rear translation rods 41, left and right translation rods 42, up and down translation rods 44 and arc support frame 45 to After the proper position, lock the locking part and fix the patient's calf with strap 46;

4) Put the patient's foot on the footboard 61, and fix the patient's foot on the footboard 61 through the strap 62;

5) Loosen the locking part of the motor drive mechanism 5, adjust the front and rear translation frame 51 and the motor bracket 52 respectively, and move the foot plate fixing mechanism 6 to a proper position, and then lock the locking part;

6) The patient sets the positions of the two positioning pins 68 to limit the range of motion of the swing pin 67, so as to limit the swing range of the foot side plate 64;

7) The patient sets the maximum value of the speed, steering and output torque of the motor 55 in the stretching process in the circuit safety limit module in the data analysis unit 76;

8) The patient can observe the electrical signal of his own muscle surface, the angle signal induced by the inclination sensor 63 and the torque signal induced by the torque sensor 65 in the calculation module of the data analysis unit 76, and the calculation module in the data analysis unit 76 can obtain the motor 55 Calculate the speed, steering and output torque during the stretching process, and compare the calculated value with the corresponding maximum value set in the circuit safety limit module: if it exceeds its corresponding maximum value, the calculation module outputs its The corresponding maximum value is given to the motor driver 77; if it is not exceeded, the calculation module outputs the calculated value to the motor driver 77, and the motor driver 77 controls the speed and the steering and output torque of the motor 55 in the stretching process;

9) The motor 55 outputs power through the reduction box 56, and drives the foot side plate 64 to rotate through the coupling 66; the foot side plate 64 drives the foot plate 61 to move, and the patient's foot moves with the foot plate 61.

The present invention is only described with the above-mentioned embodiments, and the structure, installation position, and connection of each component can be changed, especially the method of active stretching. On the basis of the technical solution of the present invention, the improvement and equivalent transformation of individual components according to the principle of the present invention shall not be excluded from the protection scope of the present invention.

Claims (8)

1. a lower limb spasm intelligent rehabilitation device, is characterized in that: it comprises the underframe of being made by the section bar with mounting groove, and described underframe rear portion end face is fixedly connected with a seat; On the underframe in described seat the place ahead, be connected with thigh supporting mechanism, shank supporting mechanism, motor-driven mechanism, sole fixed mechanism and control module;

Described thigh supporting mechanism comprises that one is fixedly connected on the support bar on described underframe, be inserted with the vertical end of a T shape frame, and the two is slidably connected in described support bar by locking member;

Described shank supporting mechanism comprises a front and back translation bar, it is slidably connected on described underframe by locking member, one side of described front and back translation bar is by the locking member left and right translation bar that is slidably connected, described left and right translation masthead face is fixedly connected with a lower support bar, described lower support bar is by the locking member upper and lower translation bar that is slidably connected, described upper and lower translation masthead portion is rotationally connected an arc bracing frame by locking member, in described arc bracing frame, is fixedly connected with a bandage;

Described motor-driven mechanism comprises a front and back pan carriage, it is slidably connected on described underframe by locking member, pan carriage top, described front and back is by the locking member electric machine support that is slidably connected, the top of described electric machine support is fixedly connected with a motor external member with encoder and decelerator, is connected to one the output shaft rotation of described motor external member and is arranged on the bearing block at described electric machine support top;

Described sole fixed mechanism comprises a sole, is provided with some bandages on described sole, and described sole back is provided with an obliquity sensor; One side of described sole is provided with a foot side plate, and the top of described foot side plate connects a shaft coupling by a torque sensor, and the other end of described shaft coupling is connected on the output shaft of described motor external member; On described shaft coupling, be fixedly installed a rocking pin, the side of described bearing block is provided with row's installing hole, in an installing hole of the described bearing block of described rocking pin both sides, is separately installed with an alignment pin; Described rocking pin and two alignment pins form the machine security position-limit mechanism of the described foot side plate hunting range of a restriction;

Described control module comprises three electrode slices, a data acquisition unit, a motor driver and a data analysis unit arranging on computers, and described data analysis unit comprises a computing module; Three described electrode slices are separately positioned on patient's musculus soleus, gastrocnemius, tibialis anterior place, for gathering the signal of telecommunication on patient's respective muscle surface, and send to described data acquisition unit; Described data acquisition unit also gathers the dip angle signal that torque signal that described torque sensor transmits and described obliquity sensor transmit, and import the signal of telecommunication of each muscle surface, torque signal and dip angle signal into data analysis unit in computer, the computing module of described data analysis unit by calculate described motor at drawing process medium velocity, turn to the value of calculation with output torque, and value of calculation is sent to described motor driver, with control described motor motor in drawing process speed and turn to, output torque.

2. a kind of lower limb spasm intelligent rehabilitation device as claimed in claim 1, it is characterized in that: described data analysis unit is also provided with the spacing module of a circuit safety, the spacing module of described circuit safety for set described motor at drawing process medium velocity, turn to the maximum with output torque; Now the computing module of described data analysis unit by the speed of described motor, turn to the value of calculation of output torque and the corresponding maximum of the spacing module settings of described circuit safety and compare: if exceed its corresponding maximum, export its corresponding maximum to described motor driver; If do not exceeded, value of calculation is exported to described motor driver, with control described motor motor in drawing process speed and turn to, output torque.

3. a kind of lower limb spasm intelligent rehabilitation device as claimed in claim 1 or 2, it is characterized in that: translation bar, left and right translation bar, lower support bar and upper and lower translation bar before and after in described shank supporting mechanism, front and back pan carriage and electric machine support in described motor-driven mechanism, all adopt the section bar with mounting groove to be made.

4. a kind of lower limb spasm intelligent rehabilitation device as claimed in claim 1 or 2, is characterized in that: described data analysis unit is the computer program that adopts LabVIEW software programming.

5. a kind of lower limb spasm intelligent rehabilitation device as claimed in claim 3, is characterized in that: described data analysis unit is the computer program that adopts LabVIEW software programming.

6. a kind of lower limb spasm intelligent rehabilitation device as described in claim 1 or 2 or 5, is characterized in that: in two horizontal ends of the T shape frame of described thigh supporting mechanism, be respectively arranged with the flexible thing of overstriking, described T shape frame also carries out thigh by the bandage of separately joining to be fixed.

7. a kind of lower limb spasm intelligent rehabilitation device as claimed in claim 3, is characterized in that: in two horizontal ends of the T shape frame of described thigh supporting mechanism, be respectively arranged with the flexible thing of overstriking, described T shape frame also carries out thigh by the bandage of separately joining to be fixed.

8. a kind of lower limb spasm intelligent rehabilitation device as claimed in claim 4, is characterized in that: in two horizontal ends of the T shape frame of described thigh supporting mechanism, be respectively arranged with the flexible thing of overstriking, described T shape frame also carries out thigh by the bandage of separately joining to be fixed.