CN109524127A - A kind of rehabilitation nursing system - Google Patents
A kind of rehabilitation nursing system Download PDFInfo
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- CN109524127A CN109524127A CN201810208482.8A CN201810208482A CN109524127A CN 109524127 A CN109524127 A CN 109524127A CN 201810208482 A CN201810208482 A CN 201810208482A CN 109524127 A CN109524127 A CN 109524127A
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
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- G—PHYSICS
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- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
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- G—PHYSICS
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- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
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- G—PHYSICS
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- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H80/00—ICT specially adapted for facilitating communication between medical practitioners or patients, e.g. for collaborative diagnosis, therapy or health monitoring
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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- A—HUMAN NECESSITIES
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- A61H—PHYSICAL 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
- A61H2205/00—Devices for specific parts of the body
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Abstract
本发明涉及一种康复护理系统，包括沿床体周边布置的床体周边轨道；安装在床体周边轨道上的机械手臂，机械手臂能够沿所述床体周边轨道移动；以及控制单元，能够控制床体周边轨道和机械手臂。其中，床体周边轨道为分段布置，可由多段子轨道拼接形成，并且各个子轨道能够相对于其他子轨道独立地调整高度。机械手臂包括多段机械臂杆，能够形成封闭的保护圈辅助进行行走康复训练，也能够伸展并保持姿态，以辅助使用者完成动作。本发明利用数据驱动，所有状态、过程及结果可测量；机械手臂及床体周边轨道调整灵活，可以满足各种不同的需求；充分利用原有的床体，产品的综合成本降低。
The invention relates to a rehabilitation nursing system, comprising a bed peripheral track arranged along the periphery of a bed body; a robotic arm installed on the bed peripheral track, the robotic arm can move along the bed peripheral track; and a control unit capable of controlling Tracks around the bed and robotic arms. Wherein, the peripheral rails of the bed body are arranged in sections, which can be formed by splicing multiple sub-rails, and each sub-rail can be independently adjusted in height relative to other sub-rails. The robotic arm includes a multi-segment robotic arm rod, which can form a closed protective circle to assist in walking rehabilitation training, and can also stretch and maintain a posture to assist the user to complete the action. The invention is driven by data, and all states, processes and results can be measured; the mechanical arm and the surrounding track of the bed body can be adjusted flexibly to meet various needs; the original bed body is fully utilized, and the comprehensive cost of the product is reduced.
Description
Technical field
It is special the present invention relates to wisdom endowment and rehabilitation field more particularly to a kind of rehabilitation nursing system on intelligent bed periphery
It is not healing robot and intelligent Application.
Background technique
With the continuous exacerbation of Chinese society's aging trend, the living nursing problem of the elderly, has been today's society
The problem of urgent problem to be solved, endowment service and Aged mode also have become people's general concern.For now, endowment side
Formula can be generally divided into two kinds of " endowment of home for destitute formula " and " family endowment "." endowment of home for destitute formula " mode had obtained always in recent years
The generally approval and concern of people, children and society.The advantages of home for destitute mode is supported parents is: have in home for destitute nursing staff,
Medical worker, administrative staff etc., provide service all day for old man, it is ensured that their daily life, diet offer, safety guarantee,
Medical services, and be responsible for providing rehabilitation service if necessary, the relatives of old man are got in touch in time, are notified to the situation of old man to it.And
The old man of family endowment then lacks corresponding adequate and systematic service and the support of system, especially rehabilitation service, with the practical desired value of old man
It compares, there are the serious unmatched situations of rehabilitation result.Specific manifestation are as follows: the nursing of one side partial recovery can only be in rehabilitation machines
Structure or large-scale endowment place could provide, and then lack the guidance of professional at home, effect is not fully up to expectations；On the other hand, health
Multiple equipment itself can not accurately instruct specific rehabilitation course there is also can not quantify.
Other than the rehabilitation nursing of the elderly, need all kinds of patients of duration rehabilitation service that also there are similar need
It asks, such as the nursing and rehabilitation of fracture, apoplexy situation.
It is for large-scale home for destitute or professional health mostly currently there are a large amount of various rehabilitation class equipment and material
Answer a pager's call structure place, on the one hand, reach rehabilitation place from shelter and the vehicles needed to bring inconvenience, and rehabilitation every time it is effective when
Between it is also very short, totally cause each rehabilitation all and be primary less economic convenient experience, on the other hand current rehabilitation equipment base
Originally be piled up with function based on, lack the real-time measurement means of qualitative, quantitative, the rehabilitation of current generation can not be carried out effective
Evaluation also can not carry out science to following rehabilitation programme and accurately formulate, cause in terms of integral rehabilitation blindly, it is limited at
Rehabilitation result is less than satisfactory in this.Also, many rehabilitation equipment volumes are larger or systematic comparison is complicated, are unsuitable for being in
In install and use.
Generally speaking, the prior art, which has the disadvantage in that, accurately to measure rehabilitation course；It can not carry out precisely
Rehabilitation programme design；Rehabilitation course limitation is big, can only carry out in the case where special environment needs professional to instruct；Rehabilitation equipment itself
It is unsuitable for installing and using at home；Overall cost is high, service result is dissatisfied.
Summary of the invention
In view of the above drawbacks of the prior art, the technical problems to be solved by the present invention are: rehabilitation course and result can
With quantization, the rehabilitation programme of accurate science can be formulated；Rehabilitation, intuitiveization can be carried out around the bed body known to house at any time
Data and result feedback prompts, rehabilitation expert is always at one's side；The space around bed body is made full use of, common rehabilitation is eliminated and sets
The standby requirement for place occupied area, and since the bed for being familiar with using with user integrates, user is using
When can enhance psychological security, promote safety.
To achieve the above object, the present invention provides a kind of rehabilitation nursing systems, comprising: bed body peripheral rails, the bed
Body peripheral rails are fixedly mounted in the bed body along the periphery of bed body, and can be opened and closed or be risen relative to the bed body
Drop.
According to above-mentioned rehabilitation nursing system, the bed body peripheral rails are step-by-step arrangement, and multistage sub-track is sliceable.
According to above-mentioned rehabilitation nursing system, the sub-track is configured to be independently adjustable relative to other sub-tracks
Highly.
According to above-mentioned rehabilitation nursing system, the bed body peripheral rails, which are equipped with, enters and leaves region, described to enter and leave the described of region
Sub-track is configured to highly to be reduced to bed surface and following.
According to above-mentioned rehabilitation nursing system, according to above-mentioned rehabilitation nursing system, further includes: be mounted on bed body periphery rail
Mechanical arm on road, the mechanical arm are configured as moving along the bed body peripheral rails.
According to above-mentioned rehabilitation nursing system, the mechanical arm is mounted on the bed body periphery proximally by connection structure
On track, and the mechanical arm is moved along the bed body peripheral rails；And the distal end quilt of the mechanical arm
It is configured to detachably connected or fixed with the bed body peripheral rails, enables the mechanical arm and the bed body
A part of peripheral rails forms semi-surrounding or sealing ring.
According to above-mentioned rehabilitation nursing system, the mechanical arm is configured to actively guide or passively follow in institute
The user in semi-surrounding or sealing ring is stated, is moved along the track formed by the bed body peripheral rails.
According to above-mentioned rehabilitation nursing system, the distal end of the mechanical arm is clamping plate, hasp or magnetic structure.
According to above-mentioned rehabilitation nursing system, the mechanical arm includes multistage machinery armed lever, two sections of adjacent machinery
It is connected between armed lever with joint, wherein each section of mechanical armed lever can carry out the movement of single or multiple freedom degrees.
According to above-mentioned rehabilitation nursing system, the mechanical arm includes at least three sections mechanical armed levers.
According to above-mentioned rehabilitation nursing system, the mechanical arm is configured to stretch and keep posture, is made with auxiliary
User's execution.
According to above-mentioned rehabilitation nursing system, further includes: control unit is configured as controlling the bed body peripheral rails and institute
State mechanical arm.
According to above-mentioned rehabilitation nursing system, described control unit is configured as can also receiving and identifying with the next item down or more
Item instruction: phonetic order, key-press input instruction, the instruction of program preset instructions, cloud network；And based on received instruction
Control the bed body peripheral rails and the mechanical arm.
It further include following one or more sensor devices: velocity sensor, power sensing according to above-mentioned rehabilitation nursing system
Device, acceleration transducer, position sensor, angular transducer, sound transducer, photographic device；And described control unit quilt
It is configured to dynamically control the bed body peripheral rails and the mechanical arm based on the information that the sensor device acquires,
And user is reminded to adjust posture.
Further include following one or more output equipments according to above-mentioned rehabilitation nursing system: acousto-optic module, display module,
Motor execution module；And described control unit is configured to export corresponding information or dynamic by the output equipment
Make.
According to above-mentioned rehabilitation nursing system, described control unit is configured to based on rehabilitation programme or rehabilitation model,
It controls the bed body peripheral rails and the mechanical arm completes scheduled rehabilitation movement.
According to above-mentioned rehabilitation nursing system, described control unit is configured to be connected with cloud brain, Xiang Suoshu cloud
It holds brain to send history rehabilitation course data, and receives rehabilitation from the cloud brain and adjust data, to dynamically adjust rehabilitation
Plan.
Compared with prior art, the invention has the advantages that having control unit；Based on the adjustable of bed body periphery arrangement
The track of track, and can Modularized splice；It is mounted on moving on rails and has each joint can be with the machine of multifreedom motion
Tool arm, and closed protective circle can be formed.
The present invention is based on intelligent nursing bed techniques, and control unit solves the concentration analysis of various kinds of sensors data, mode is known
It is not presented with the Real-time Feedback of data, and can dynamically give user's feedback, more had to implement pose adjustment to reach
The rehabilitation efficacy of effect.Another aspect control unit is also interacted with cloud, the rehabilitation programme for the user that can timely update, and is controlled
Each executing agency completes scheduled rehabilitation movement by rehabilitation programme.
Also, the present invention also using be arranged in bed body periphery segmentation can automatic controlled height Track desigh, formed use
In the track of Walking.Track profile can be adjusted on demand by being segmented controllable mechanism, to strengthen the validity of rehabilitation.Together
When segment design (such as prevent from falling from the bed) while guaranteeing user's safety, be also convenient for user and easily go to bed
(orbit altitude that will such as enter and leave region is adjusted to lower than bed surface).
The present invention is further used installation in orbit and can be designed with the mechanical arm of orbital motion.Mechanical arm
It is made of multistage, every section of movement that can carry out multiple freedom degrees.Mechanical arm can when user implements Walking rehabilitation
It is protected with forming the closed ring of encirclement for user, can also be stretched on demand in bed body region and user is helped to rise by means of power
Bed completes the grasping movement of auxiliary, also may help to user and carries out upper limb training.
Meanwhile the joint motions of mechanical arm and the whole movement along track can by velocity sensor and force snesor into
Row acquisition perception, and transfer data to control unit and analyzed, movement mechanism itself also receives the control of control unit, from
And implement precisely quantifiable rehabilitation training.
It is described further below with reference to technical effect of the attached drawing to design of the invention, specific structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
Detailed description of the invention
Fig. 1 is the schematic diagram of one embodiment of the rehabilitation nursing system in the present invention；
Fig. 2 is the module map of one embodiment of the rehabilitation nursing system in the present invention；
Fig. 3 is the overall structure diagram of one embodiment of the rehabilitation nursing system in the present invention；
Fig. 4 is the discrepancy regional structure schematic diagram of one embodiment of the bed body peripheral rails in the present invention；
Fig. 5 is the schematic diagram of one embodiment that mechanical arm in the present invention is in sealing ring mode；
Fig. 6 is the schematic diagram of one embodiment that walking rehabilitation training is carried out using rehabilitation nursing system in the present invention.
In figure, 01 is bed body, and 02 is bed body peripheral rails, and 03 is mechanical arm；1 is the first joint, and 2 be second joint, 3
It is the 4th joint for third joint, 4.
Specific embodiment
Multiple preferred embodiments of the invention are introduced below with reference to Figure of description, keep its technology contents more clear and just
In understanding.The present invention can be emerged from by many various forms of embodiments, and protection scope of the present invention not only limits
The embodiment that Yu Wenzhong is mentioned.
In the accompanying drawings, the identical component of structure is indicated with same numbers label, everywhere the similar component of structure or function with
Like numeral label indicates.The size and thickness of each component shown in the drawings are to be arbitrarily shown, and there is no limit by the present invention
The size and thickness of each component.Apparent in order to make to illustrate, some places suitably exaggerate the thickness of component in attached drawing.
It is as shown in Figure 1 a kind of using control unit as an implementation of the bed periphery rehabilitation nursing system of core in the present invention
The schematic illustration of example, including input unit, control unit, output unit, network communication unit and power supply unit.Input unit
Including velocity sensor, force snesor, acceleration transducer, position sensor, angular transducer, sound transducer, camera shooting dress
All kinds of sensor devices such as setting for acquiring all kinds of information relevant to User Activity or external environment further includes user key-press etc.
All types of user input equipment, for receiving user's input.
Control unit includes processing unit and sound transducer, according to the received audio controls of sound transducer and
The parameter preset of system, and based on the various information or data obtained by input unit generate after comprehensive analysis processing holding
Row instructs and is sent to output unit.
Output unit includes all kinds of output equipments such as motor execution module, acousto-optic module, display module, can be according to control
What unit issued executes instruction execution corresponding operation, exports corresponding information or movement, such as by the control pair of motor execution module
The track or mechanical arm answered execute some movement, issue corresponding sound or light by acousto-optic module, or by display module
Show corresponding information.
When operation, control unit can receive and identify user speech instruction, key-press input instruction, program preset instructions,
The command informations such as cloud network instruction, based on the information that input unit is obtained by all kinds of sensor devices, after being analyzed and processed,
It is executed instruction to output unit sending, to dynamically control the movement of bed body peripheral rails and mechanical arm, and realizes acousto-optic
It prompts and the functions such as information is shown, prompting user adjusts posture.
Control unit can also be connected by network communication unit with cloud brain, and two-way information interaction is carried out, and be realized remote
Range monitoring, and information can be sent to the relevant personnel by cloud brain.
Power supply unit is powered the modules such as input unit, control unit, output unit and network communication unit.
It is illustrated in figure 2 a kind of module of one embodiment of the rehabilitation nursing system based on intelligent bed periphery in the present invention
Figure, including control unit, bed body peripheral rails and mechanical arm.Wherein, control unit is for monitoring, coordinating, controlling bed body week
The working condition of side track and mechanical arm；Bed body peripheral rails are arranged in bed body periphery, can protect the safety of user simultaneously
Form Walking track；Mechanical arm is fixed on bed body peripheral rails and can move along bed body peripheral rails.
In use, control unit can concentrate reception and analyze the information obtained by various kinds of sensors, carry out mould
Formula identifies and implements to feed back, so that user be reminded to implement pose adjustment to reach most effective rehabilitation efficacy.Control unit
Including rehabilitation programme Dynamic Execution module, rehabilitation programme is formulated by professional rehabilitation teacher or cloud brain according to preset rules, later
Preset model can be cooperated to implement dynamic and adjusted, including the frequency, rehabilitation duration, orbit track according to each rehabilitation course data
And movement velocity, force mechanism etc., form the accurately long-term rehabilitation programme of science.
It is as shown in Figure 3 and Figure 4 the knot of one embodiment of the rehabilitation nursing system based on intelligent bed periphery in the present invention
Structure schematic diagram, including bed body peripheral rails 02 and mechanical arm 03.Wherein, bed body 01 can be the common beds for domestic use that occupies, bed body
Peripheral rails 02 are mounted on bed body peripheral rails 02 along the installation of the periphery of bed body 01 or arrangement, mechanical arm 03, and can edge
Bed body peripheral rails 02 it is mobile.
Bed body peripheral rails 02 are fixedly mounted in bed body 01 along the periphery of bed body 01, and can be relative to bed body 01
Folding or lifting.Bed body peripheral rails 02 can be integrated being also possible to step-by-step arrangement, can be closed be also possible to
It is not closed, it can be adjusted according to the flexible shapes of bed body 01.In Fig. 3 and embodiment shown in Fig. 4, bed body periphery
Track 02 is step-by-step arrangement, and multistage sub-track is sliceable.This Modularized splice mode, so that mounting, commissioning and maintenance
It is more convenient.
The different segmentations of bed body peripheral rails 02 or sub-track can be adjusted by being segmented controllable mechanism relatively independently respectively
Section height, can form different height or dipping and heaving Walking track profile.Also, work as bed body peripheral rails 02
Height be higher than bed surface position when, bed body peripheral rails 02 can be used as railing and provide protection for user, such as avoid using
Person falls from the bed.As shown in figure 4, bed body peripheral rails 02, which can also be arranged, enters and leaves region, above and below user when bed, out
The height for entering the sub-track in region can be reduced to bed surface and position below, convenient for users to upper and lower bed.
It is illustrated in figure 5 the structure chart of one embodiment of mechanical arm 03 in the present invention, wherein mechanical arm 03 can be with
Form sealing ring.Mechanical arm 03 may include multistage machinery armed lever, is connected between adjacent two sections mechanical armed levers with joint, often
One section of mechanical armed lever can carry out the movement of single or multiple freedom degrees, each joint can carry out single or multiple freedom degrees
Rotation, mechanical armed lever and joint cooperate, mechanical arm may be implemented and moved at any angle in three dimensions.At this
In embodiment, mechanical arm 03 includes three sections of mechanical armed levers and four joints, and four joints are respectively that the first joint 1, second is closed
Section 2, third joint 3 and the 4th joint 4.
For convenience of description, as shown in figure 5, will be parallel with bed surface and be set as Y-axis along the axis that bed body peripheral rails 02 extend,
Axis with bed surface parallel and normal to 02 extending direction of bed body peripheral rails is set as X-axis, will be perpendicular to the axis in bed surface direction
Line is set as Z axis.
Mechanical arm 03 is mounted on bed body peripheral rails proximally by connection structure, can either solid mechanical arm 03
It will not be fallen from bed body peripheral rails 02, it is also possible that mechanical arm 03 can move back and forth along bed body peripheral rails 02.
First joint 1 connects first segment machinery armed lever and connection structure, and can rotate about the z axis with X-axis；The connection of second joint 2 first
Section and second segment machinery armed lever, and can turn about the Z axis；Third joint 3 connects second segment and third section machinery armed lever, and can be with
It turns about the Z axis；4th joint 4 connects the distal end of the 4th section of mechanical armed lever and mechanical arm 03, and can turn about the X axis.Multistage
Mechanical armed lever and multiple joint structures form arbitrary posture so that mechanical arm 03 is able to carry out and moves at any angle, from
And it is adapted to various situations and meets all kinds of demands.For example mechanical arm 03 can stretch and keep posture, to assist user
Complete corresponding movement.
The distal end of mechanical arm 03 can clamp or release bed body peripheral rails 02, such as can be set to clamping plate, hasp, magnetic
The structures such as suction, with detachably connected or fixed with bed body peripheral rails 02.When the distal end of mechanical arm 03 is coupled or fixed to
When on bed body peripheral rails 02, a part of mechanical arm 03 and bed body peripheral rails 02 (i.e. distal end of mechanical arm 03 and closely
Part between end) sealing ring can be formed.The distal end of mechanical arm 03 can not also connect or consolidate with bed body peripheral rails 02
It is fixed, and semi-surrounding or other structures are formed as needed.
By the running in each joint, multistage machinery armed lever and track cooperation can form semi-surrounding structure or surround one
A sealing ring, so as to provide protection for the user in semi-surrounding structure or sealing ring.The working method of mechanical arm 03
Including sealing ring mode, expansion mode and limb rehabilitating mode.Sealing ring mode can be used for implementing Walking in user
The closed ring of encirclement is formed when rehabilitation, to provide support and protection for user.Expansion mode can be used in non-walking health
When complex pattern, mechanical arm 03 can be stretched on demand in bed body region and keep certain posture, to help user to borrow power
Get up or complete the grasping movement of some auxiliary.Limb rehabilitating mode can be used for that user is helped to carry out limbs training, machine
Tool arm 03, at certain posture, helps user to implement limb rehabilitation training according to predetermined movement parametric evolving.
In system operation, all states, process and as a result, the joint of including but not limited to mechanical arm 03 is transported
The dynamic and whole movement along bed body peripheral rails, can be measured and recorded, such as by acceleration and velocity sensor, position and power
All kinds of sensor devices such as sensor are acquired perception.The collected data of institute are further transmitted to control unit and are analyzed
Processing, whole system itself also receive the control of control unit, rehabilitation course and result are quantified, and can dynamic
Ground is reminded or is adjusted, to implement precisely quantifiable rehabilitation training, is also beneficial to formulate the rehabilitation programme of accurate science.
Bed periphery intelligent rehabilitation nursing system provided by the invention, flexibly, easy to operate, it is convenient to can according to need for setting
Ground is adjusted and is used between various operation mode, parameters customized can also be set or adjusted, and can be at home
In the case where use at any time, be widely used in various situations.It is listed below some preferred use patterns.
Normal daily life mode: certain region of bed is packed up and rested on to mechanical arm, does not influence the daily daily life of user,
Sealing ring is formed such as mechanical arm and abuts against bedside in state vertically downward；Bed body peripheral rails often go out in user
The region entered is in the height parallel or below bed surface, goes to bed convenient for user；The rest part of bed body peripheral rails is on-demand
It is configured to corresponding height, guardrail is can be used as and plays a protective role to user.When user needs to assist, as forward direction is borrowed
Power is simultaneously turned round, and control unit control mechanical arm can be notified to move to specified area by phonetic order or button operation at this time
Domain, and provide necessary support or auxiliary to user with certain posture expansion arm, as mechanical arm stretch out mechanical armed lever into
Enter bed body region and a certain position is fixed on certain posture, grabs convenient for user and turned round before obtaining to getting up by means of power.
Walking rehabilitation modality: it is illustrated in figure 6 the signal that one embodiment of walking rehabilitation training is carried out using the present invention
Figure by phonetic order or can press function button notice control unit when user needs to carry out walking rehabilitation training
It is switched to preset walking rehabilitation modality, including control track executing agency adjustment bed body peripheral rails form scheduled track,
Mechanical arm, which is moved to specified region in the form of sealing ring and mechanical arm is unfolded, surrounds protection for user.Passing through sensing
Equipment sensing is to user by after safeguard protection, then mechanical arm is re-formed closed area and by mechanical arm distal end
Clamp region clamp bed body peripheral rails, then actively guidance or passively follow user along bed body periphery rail by mechanical arm
Road is formed by track movement, so that user be assisted to carry out the rehabilitation training such as walk.Meanwhile each sensor device by speed and
The data transmissions such as force feedback are analyzed and processed data by control unit and are shown to display equipment (as shielded to control unit
Curtain, VR or projection device etc.), and can be compared with scheduled rehabilitation programme, information is provided in real time, user is notified to carry out
Pose adjustment is to strengthen rehabilitation efficacy.
Limb rehabilitating mode: after user issues phonetic order or key triggering, mechanical arm moves to predeterminable area,
And according to preset parameter, be launched into certain form, then according to predetermined movement parameter (such as motion profile, speed, active or
Damping mode etc.) help user to complete a series of limb actions, implement limb rehabilitation training.
Rehabilitation programme dynamic adjusts: the initial rehabilitation programme of user can be by professional person (such as doctor, rehabilitation teacher)
It formulates or is formulated by cloud brain according to preset rules, can then be cooperated pre- according to each rehabilitation course data collected
It is adjusted if rehabilitation model implements dynamic, including the frequency, rehabilitation duration, orbit track and movement velocity, force mechanism etc..Dynamic is adjusted
Whole rehabilitation programme can become the proprietary archives of user, to form the accurately long-term rehabilitation programme of science.
For example, being returned after carrying out subsequent long-term institute at home after user is discharged from hospitals upon recovery with apoplexy from hospital in short term
Rehabilitation nursing can order portion and look after set meal, including rehabilitation nursing system provided by the present invention, and to use formulation
The big intracerebral of rehabilitation nursing system or cloud is arrived in medium-term and long-term rehabilitation nursing program, storage.Wherein, rehabilitation nursing system can help to solve
The certainly lift of power-assisted needed for the daily daily life of user back, the lift movement such as leg, at the same can the physiology sign to user carry out it is real-time
A series of quantizating index in control unit and cloud brain formation nursing process are detected and be transmitted to, normal daily life is now in
Mode.
Since human body technical ability especially lower limb walking and the recovery of upper limbs force need after discharge, user needs by certain
The frequency actively carries out the ability training of corresponding site, can be such as switched in the preset period by voice or triggering key selection
Walking rehabilitation modality, the control instruction that equipment can receive control unit are controlled each point of bed body peripheral rails by segmentation controlled motor
Section or sub-track move to corresponding height, to form the orbital curve of predetermined shape.Then control mechanical arm is formed
Closed protective circle moves to region near user's discrepancy, after control mechanical arm stretches and carries out perception confirmation to human body,
Bending machinery arm forms the guard circle of semi-surrounding or closure, and then walking rehabilitation can be implemented in user.Walking process
In dynamics and speed it is adjustable to reaching more effective rehabilitation efficacy.The sensing such as speed, position and force snesor simultaneously
Equipment by data Real-time Feedback to control unit, be presented in real time display equipment (such as VR or projection device) on, and with it is preset
Rehabilitation programme is compared, and user can then be reminded to adjust posture in real time if any deviation.
It (is determined by the systemic presupposition time after the completion of rehabilitation training or rehabilitation course is terminated by user), system is restored to just
Chang Qiju mode, user can come back on bed.In this case, it if user is during getting up, needs to borrow power
Body is rotated, can be triggered with key or voice command control mechanical arm moves to designated position, arm is then unfolded and is formed
Forward direction support auxiliary user completes movement of getting up.Or user can also be helped to complete with certain posture by preset mode
Strength building of upper limb, including active drawing, rotation, passive application resistance etc..
Above-mentioned is some preferred embodiments of the invention, and in wider application, each associated components can have different
Alternative solution, such as: mechanical arm uses non-joint structure；It does not use and is segmented controllable Track desigh but the integral type of fixation
Periphery guardrail etc..But if mechanical arm uses non-joint structure, and limitation is larger, possibly can not accomplish certain movements；If not
Using controllable Track desigh is segmented but the integral type periphery guardrail of fixation, then it will lead to and need manual adjustment, be not easy to make
With, and mode is more single, it is difficult to and it is adjusted, is also just difficult to meet optimal rehabilitation efficacy.If overall structure is not abundant
Using original bed body, but bed body is also configured as to a part of system, then necessarily causes overall cost higher, and need
Support construction and control unit are rebuild, occupied area is larger, so that user is lower using wish.
By above-mentioned specific embodiment, the present invention has following technical effect that rehabilitation nursing system utilizes data-driven,
The stateful, process of institute and result can measure；Mechanical arm and the adjustment of bed body peripheral rails flexibly, can satisfy a variety of different need
It asks；The intelligent bed extension of function that user has just been needed realizes the residence under round-the-clock control unit expert guidance to intelligent rehabilitation
The scientific rehabilitation of family；Original bed body is made full use of, the overall cost of product reduces, and user experience and effect promoting reduce rehabilitation
And intelligent bed separation bring repeats cost (such as display screen and control analytical unit, guardrail safeguard structure) and greatly reduces
Occupied area.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (10)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710843274 | 2017-09-18 | ||
| CN2017108432740 | 2017-09-18 |
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| CN109524127A true CN109524127A (en) | 2019-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810208482.8A Pending CN109524127A (en) | 2017-09-18 | 2018-03-14 | A kind of rehabilitation nursing system |
| CN201820346128.7U Active CN208781579U (en) | 2017-09-18 | 2018-03-14 | A kind of rehabilitation nursing system |
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| Application Number | Title | Priority Date | Filing Date |
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| WO (1) | WO2019052136A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116570476A (en) * | 2023-04-27 | 2023-08-11 | 淮安市第二人民医院 | Rehabilitation training device, method of using the training device and bearing bed |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109524127A (en) * | 2017-09-18 | 2019-03-26 | 上海伟赛智能科技有限公司 | A kind of rehabilitation nursing system |
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| CN101803988A (en) * | 2010-04-14 | 2010-08-18 | 华中科技大学 | Multifunctional intelligent rehabilitation robot for assisting stand and walk |
| CN203677415U (en) * | 2014-01-23 | 2014-07-02 | 王衍武 | Orthopaedic postoperative walking rehabilitation hospital bed |
| CN204734691U (en) * | 2015-06-08 | 2015-11-04 | 江苏龙昌智能科技有限公司 | Recovered machine of multi -functional limbs intelligence |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN208781579U (en) | 2019-04-23 |
| WO2019052136A1 (en) | 2019-03-21 |
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