CN110353952A - A kind of shatter-resistant travelling aided bicycle and recovery training method for lower limb rehabilitation training - Google Patents

Abstract

The invention discloses an anti-fall rollator for lower limb rehabilitation training and a rehabilitation training method, comprising: a vehicle frame with a wide top and a narrow bottom; universal wheels located at the bottom of the frame; anti-collision wheels located at the bottom of the frame frame; seat cushion located in the interior space of the frame; bungee cords connecting the seat cushion to the frame, the seat cushion and the bungee adjuster; a tray frame located at the top of the frame; the front end of the tray frame and the frame linkage can be opened. The invention makes the rehabilitation training process no longer restricted by the environment, and the patient can carry out the rehabilitation training activities in the outdoor environment. Moreover, the rollator is based on the original lower extremity exoskeleton rehabilitation robot, combined with robot control technology and anti-fall rollator, based on the commonly used effective movement disorder rehabilitation methods in clinical practice, it can bring better benefits to the rehabilitation training process of patients. experience.

Description

An anti-fall rollator and rehabilitation training method for lower limb rehabilitation training

technical field

The present invention relates to the field of health and medical robots, in particular to a medical robot for rehabilitation training of lower limbs, and more specifically to an anti-fall rollator and a rehabilitation training method for rehabilitation training of lower limbs.

Background technique

Our country is gradually aging. Cardiovascular and cerebrovascular diseases have caused more and more middle-aged and elderly patients to suffer from hemiplegia. In addition, there are many people with nerve damage or limb damage caused by traffic accidents. This not only affects the health of patients Normal life also places a huge burden on their families and society. Relevant clinical medical practice and research have shown that for patients with such motor dysfunction, in addition to surgery and drug treatment, rehabilitation training can also restore their damaged motor capacity to a certain extent. Among such patients, patients with lower limb paralysis account for the vast majority, so rehabilitation training for lower limbs has become a research hotspot.

An exoskeleton robot is a kind of intelligent wearable medical device. Its structure is similar to the biological bone structure and can coordinate with the human body, so it is called an exoskeleton robot. The lower extremity exoskeleton rehabilitation robot is a kind of exoskeleton robot, which is used for rehabilitation training and assisting walking of patients with lower limb disorders. It has been applied in some hospitals in economically developed areas. The traditional lower extremity exoskeleton rehabilitation training method is carried out indoors. The training process requires the participation of doctors, patients and patients' family members. Patients wear exoskeleton robots and usually perform rehabilitation training on a treadmill. However, this traditional rehabilitation training method is too rigid, unable to truly realize the interaction between the environment and the human body, lacks the fun of interaction, has a serious deficiency in the coordination training of the patient's whole body, and is limited by the training environment.

Therefore, on the whole, the traditional rehabilitation training method based on the lower extremity exoskeleton rehabilitation robot has many disadvantages, such as being limited to the indoor environment; due to the need for matching treadmills and other equipment, the cost is high; because it simulates human beings on the treadmill. After all, it is still impossible to truly realize the coordinated interaction between the human body and the environment, and it does not reflect the characteristics of the coordination training of the human body's limbs; the whole process of training is relatively boring, and it is always the same set of movements, which lacks interest.

Therefore, it is very necessary to develop a cost-effective rehabilitation training system and method to meet the needs of patients, improve the efficiency of rehabilitation training and reduce treatment costs.

Contents of the invention

In view of this, aiming at the shortcomings of the traditional lower limb exoskeleton-based rehabilitation robot training method, the present invention provides an anti-fall rollator and rehabilitation training method for lower limb rehabilitation training for the purpose of rehabilitation treatment.

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

On the one hand, the present invention provides an anti-fall rollator for lower limb rehabilitation training, comprising:

The vehicle frame, the vehicle frame is designed as a whole with a wide top and a narrow bottom;

Universal wheels, the universal wheels are provided with multiple and are all located at the bottom of the frame;

An anti-collision frame, the anti-collision frame is connected to the bottom of the vehicle frame and the position of the anti-collision frame is higher than the universal wheel, and the space range of the anti-collision frame is larger than that of the vehicle frame;

a seat cushion, the seat cushion is located near the middle of the inner space of the vehicle frame;

An elastic cord, the elastic cord includes a front elastic cord and a rear elastic cord, one end of the front elastic cord is connected to the seat cushion, and the other end is connected to the vehicle frame connecting rod arranged transversely in front of the vehicle frame; the rear elastic cord One end is connected with the cushion, and the other end is connected with an elastic force adjusting device through a pulley fixed behind the bracket;

The pallet frame is located at the top of the vehicle frame and is used for placing items and installing and fixing other functional structures; the front end of the pallet frame and the connecting rod of the vehicle frame can be opened.

The anti-fall rollator used for rehabilitation training of lower limbs of the present invention makes the rehabilitation training process no longer restricted by the environment, and patients can carry out rehabilitation training activities in the outdoor environment. The rollator is based on the original lower extremity exoskeleton rehabilitation robot, combined with robot control technology and anti-fall rollator, and based on the commonly used effective movement disorder rehabilitation methods in clinical practice, it can bring better experience to patients in the rehabilitation training process.

On the basis of above-mentioned technical scheme, the present invention can also make following improvement:

Preferably, the elastic force adjustment device includes a protective shell, a guide rail, a spring, an upper elastic force control fixed block, a lower elastic force control fixed block, a lifting screw, a lead screw fixed block, a bearing, a bearing end cover, and an adjustment handwheel, wherein,

The protective shell is located at the outermost part of the elastic force adjustment device, and is used to cover other structures on the elastic force adjustment device as a whole, to play a protective role, and to support and fix the upper elastic force control fixed block, the lower elastic force Control fixed block;

The guide rail is fixed on the vehicle frame, and the upper elastic force control fixed block and the lower elastic force control fixed block can slide up and down along the guide rail, that is, the guide rail plays the role of guiding and bearing;

The upper elastic control fixed block is connected with the adjustment handwheel through the lifting screw, and the position of the upper elastic control fixed block on the lifting screw can be adjusted by turning the adjustment handwheel; the upper elastic control is fixed The block moves up and down along the guide rail to change the compression of the spring, and then adjust the elastic force of the seat cushion; during the movement of the rollator, due to the action of the lifting screw, the position of the upper elastic force control fixed block on the guide rail is fixed;

The lower elastic control fixed block is connected with the upper elastic control fixed block through the spring, and the lower elastic control fixed block is connected with the seat cushion through the rear elastic cord; during the movement of the rollator, the lower elastic The position of the control fixed block on the guide rail can be moved up and down, so that the cushion has a certain elasticity;

The guide rail is provided with a limiting block that restricts the downward movement of the lower elastic control fixed block.

Preferably, the elastic force adjusting device further includes a screw fixing block for fixing the lower end of the lifting screw.

Preferably, the elastic force adjusting device also includes a bearing fixed on the lifting screw, the bearing is axially fixed through the bearing end cover, the bearing can ensure that the lifting screw can rotate smoothly, and the lifting screw can rotate smoothly. play a thrust role.

Preferably, the other functional structures installed on the tray rack include multi-function controllers, function buttons, emergency alarm buttons, cup holder slots, mobile phone holders, etc., and the manufacturer can install corresponding functional structures according to the specific needs of customers. structure, wherein, the function key is a control signal input device of the electronic equipment of the rollator, and the emergency alarm button is used to provide call and alarm services in an emergency.

Preferably, the multifunctional controller is equipped with an attitude sensor for real-time monitoring of the movement attitude of the rollator, a positioning chip for real-time detection of the patient's position information, a wireless generator for communicating with terminal equipment, and the like.

Preferably, a series of devices with entertainment functions such as music and radio playing devices are also installed in the multi-functional controller.

Preferably, the rollator further includes handrails, the said handrails are located on the tray frame, which is convenient for the patient to hold with both hands during the rehabilitation training process.

Preferably, the height of the vehicle frame is adjustable to adapt to the heights of different patients.

Preferably, the cushion is in the shape of a saddle. On the one hand, the saddle-shaped cushion serves as a "bench" for the patient, which saves the patient effort. On the other hand, when the patient falls, the cushion can support the patient in time to ensure that the patient will not fall or fall. tilt.

On the other hand, the present invention also provides a method for performing rehabilitation training using the above-mentioned anti-fall rollator for lower limb rehabilitation training, including the following steps:

S1. First, the patient wears the upper and lower extremity exoskeleton rehabilitation robot on the outside of the fall-proof rollator;

S2. Before the patient enters the anti-fall rollator, open the front end of the tray frame and the frame connecting rod connected by the front elastic cord, so that the patient can easily enter the anti-fall rollator;

S3. After wearing the exoskeleton rehabilitation robot for upper and lower limbs, the patient enters the exoskeleton robot for rehabilitation training with the assistance of family members or doctors.

It can be known from the above technical solutions that, compared with the prior art, the present invention discloses a fall-proof rollator and a rehabilitation training method for lower limb rehabilitation training, which at least have the following beneficial effects:

1) Reduce the cost of supporting equipment for rehabilitation training based on lower extremity exoskeleton rehabilitation robots;

2) When the anti-fall rollator is used for rehabilitation training, the use of the venue is not limited by the environment, and outdoor rehabilitation training can be carried out;

3) Based on the unique structural design of the anti-fall rollator, the safety of patients can be guaranteed to a large extent during the rehabilitation training process;

4) Carry out outdoor rehabilitation training, truly realize the coordination and interaction between the human body and the environment, and reflect the characteristics of the coordination training of human limbs;

5) Increased the interactivity of rehabilitation training, which is no longer as boring as fixed indoor field training.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings on the premise of not paying creative efforts.

FIG. 1 is a schematic diagram of the specific structure of an anti-fall rollator for lower limb rehabilitation training provided by the present invention.

Figure 2 is a schematic diagram of the external structure of the elastic force adjusting device provided by the present invention.

Figure 3 is a schematic diagram of the internal structure of the elastic force adjusting device provided by the present invention.

Fig. 4 is a schematic diagram of the combined use of the lower extremity exoskeleton rehabilitation robot and the anti-fall rollator provided by the present invention.

Among them, in the figure,

1-frame, 2-universal wheels, 3-anti-collision frame, 4-seat cushion, 5-elastic rope, 6-tray frame, 7-armrest, 8-elasticity adjustment device, 9-multifunctional controller, 10- Emergency alarm button, 11-function button, 12-cup holder slot, 13-mobile phone holder, 14-pulley, 15-protective shell, 16-guide rail, 17-spring, 18-upper elastic control fixed block, 19-lower elastic control Fixing block, 20-lifting lead screw, 21-leading screw fixing block, 22-bearing, 23-bearing end cover, 24-adjusting handwheel, 25-lower limb exoskeleton rehabilitation robot.

Detailed ways

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

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

Example:

The following will describe the technical solution of the anti-fall rollator for lower limb rehabilitation training according to the embodiment of the present invention in combination with the lower limb exoskeleton rehabilitation robot 25 .

As shown in Figures 1-4, the embodiment of the present invention discloses a fall-proof rollator for lower limb rehabilitation training, including a frame 1, universal wheels 2, a crash frame 3, a seat cushion 4, an elastic cord 5, and a tray Frame 6, handrail 7, wherein,

The whole vehicle frame 1 is designed to be wide at the top and narrow at the bottom, which can ensure the stability of the vehicle body, and the height of the vehicle frame 1 can be adjusted according to the height of the patient.

Universal wheels 2 are provided with multiple and are all positioned at the bottom of vehicle frame 1, and are used for walking and changing direction of the rollator.

The anti-collision frame 3 is connected with the bottom of the vehicle frame 1 and the position of the anti-collision frame 3 is higher than the universal wheel 2, and the space range of the anti-collision frame 3 is larger than that of the vehicle frame 1, which can ensure the safety of the rollator and the patient.

The seat cushion 4 is located near the middle of the inner space of the vehicle frame 1. It is in the shape of a saddle. On the one hand, it serves as a "bench" for the patient, which saves the patient effort. On the other hand, when the patient falls, the seat cushion 4 can support the patient in time. Make sure the patient does not fall or tip over.

The elastic cord 5 comprises a front elastic cord and a rear elastic cord according to the front and rear positions of the vehicle frame 1, and one end of the front elastic cord is connected with the seat cushion 4, and the other end is connected with the vehicle frame connecting rod arranged transversely in front of the vehicle frame 1; one end of the rear elastic cord is connected with the seat cushion 4 is connected, and the other end passes through the pulley 14 that is fixed on the support 1 rear and is connected with an elastic force adjusting device 8; The front elastic rope and the rear elastic rope have certain elasticity because of having certain elasticity, therefore can guarantee the patient's comfort.

The tray frame 6 is located at the top of the vehicle frame 1 and is used for placing items and installing and fixing other functional structures; the front end of the tray frame 6 and the frame linkage can be opened to facilitate the patient to enter the rollator.

Armrest 7 is positioned on tray frame 6, and places patient's both hands in rehabilitation training process.

In order to further optimize the technical solutions of the above-mentioned embodiments, as shown in Figures 2 and 3, the elastic force adjustment device 8 includes a protective shell 15, a guide rail 16, a spring 17, an upper elastic force control fixed block 18, a lower elastic force control fixed block 19, and a lifting screw 20. Lead screw fixing block 21, bearing 22, bearing end cover 23, adjustment hand wheel 24, wherein,

The protective shell 15 is located at the outermost part of the elastic force adjusting device 8, and is used to cover other structures on the elastic force adjusting device 8 as a whole for protection, and is used to support and fix the upper elastic force control fixed block 18 and the lower elastic force control fixed block 19.

The guide rail 16 is fixed on the vehicle frame 1, and the upper elastic force control fixed block 18 and the lower elastic force control fixed block 19 can slide up and down along the guide rail 16, that is, the guide rail 16 plays the role of guiding and bearing.

The upper elastic control fixed block 18 is connected with the adjustment handwheel 24 through the lifting screw 20, and the rotation of the adjustment hand wheel 24 can control the rotation of the lifting screw 20, and then adjust the position of the upper elastic control fixed block 18 on the lifting screw 20; The elastic force control fixed block 18 moves up and down along the guide rail 16 to change the compression amount of the spring 17, and then adjust the elastic force of the seat cushion 4; during the movement of the rollator, due to the effect of the lifting screw 20, the upper elastic force control fixed block 18 is on the guide rail. The position on 16 is fixed.

The lower elastic force control fixed block 19 is connected with the upper elastic force control fixed block 18 by the spring 17, and the lower elastic force control fixed block 19 is connected with the seat cushion 4 by the rear elastic rope; Bit block, in the process that rollator moves, lower elastic force controls the position of fixed block 19 on guide rail 16 and can move up and down, and then makes seat cushion 4 have certain elastic force.

In order to further optimize the technical solutions of the above embodiments, the elastic force adjusting device 8 further includes a screw fixing block 21 for fixing the lower end of the lifting screw 20 .

In order to further optimize the technical solution of the above-mentioned embodiment, the elastic force adjusting device 8 also includes a bearing 22 fixed on the lifting screw 20 and a bearing end cover 23 axially fixing the bearing 22, the bearing 22 can ensure that the lifting screw 20 can smoothly Rotate, and play thrust action to lifting lead screw 20.

In order to further optimize the technical solution of the above-mentioned embodiment, other functional structures installed on the tray frame 6 include a multi-function controller 9, function keys 11, emergency alarm button 10, cup holder groove 12, mobile phone holder 13, etc., to ensure the safety of the patient. Brief daily life needs, the manufacturer can install the corresponding functional structure according to the specific needs of customers, among which, the function button 11 is the control signal input device of the electronic equipment of the rollator, and the emergency alarm button 10 is used to provide emergency call and alarm Serve.

In order to further optimize the technical solution of the above-mentioned embodiment, the posture sensor used to monitor the motion posture of the rollator in real time, the positioning chip used to detect the patient's position information in real time, and the terminal device used to communicate are also installed in the multifunctional controller 9. Wireless generators and more.

In order to further optimize the technical solutions of the above-mentioned embodiments, a series of devices with entertainment functions such as music and broadcasting devices are also installed in the multifunctional controller, so that patients can carry out rehabilitation training in a pleasant mood.

A kind of anti-fall rollator used for lower limb rehabilitation training of the present invention cooperates with the lower limb exoskeleton rehabilitation robot 25 to carry out rehabilitation training and treatment. The specific use process is as follows:

1. First, the patient wears the upper and lower extremity exoskeleton rehabilitation robot 25 on the outside of the fall-proof rollator;

2. Before the patient enters the anti-fall rollator, open the front end of the tray frame 6 and the frame connecting rod connected by the front elastic cord, so that the patient can easily enter the anti-fall rollator;

3. After wearing the upper and lower extremity exoskeleton rehabilitation robot 25, the patient enters the exoskeleton robot for rehabilitation training with the assistance of family members or doctors.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for the related information, please refer to the description of the method part.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. An anti-fall rollator for lower limb rehabilitation training, characterized in that, comprising, The vehicle frame (1), the vehicle frame (1) is generally designed with a wide top and a narrow bottom; Universal wheels (2), the universal wheels (2) are provided with multiple and are all located at the bottom of the vehicle frame (1); An anti-collision frame (3), the anti-collision frame (3) is connected to the bottom of the vehicle frame (1) and the position of the anti-collision frame (3) is higher than the universal wheel (2), the The space range of the anti-collision frame (3) is larger than that of the vehicle frame (1); A cushion (4), the cushion (4) is located near the middle of the inner space of the vehicle frame (1); An elastic cord (5), the elastic cord (5) includes a front elastic cord and a rear elastic cord, one end of the front elastic cord is connected to the cushion (4), and the other end is horizontally arranged in front of the vehicle frame (1) The frame link is connected; one end of the rear elastic rope is connected with the cushion (4), and the other end passes through a pulley (14) fixed at the rear of the support and is connected with an elastic force adjustment device (8); Pallet frame (6), described pallet frame (6) is positioned at the top position of described vehicle frame (1), is used for placing article and installing and fixing other functional structures; The front end of described pallet frame (6) and described vehicle Frame linkages can be opened. 2. A kind of anti-fall rollator for lower limb rehabilitation training according to claim 1, characterized in that, said elastic force adjustment device (8) comprises a protective shell (15), guide rails (16), springs (17) , upper elastic control fixed block (18), lower elastic control fixed block (19), lifting screw (20), screw fixed block (21), bearing (22), bearing end cover (23), adjustment hand wheel ( 24), where, The protective shell (15) is located at the outermost part of the elastic force adjustment device (8), and is used to cover other structures on the elastic force adjustment device (8) as a whole and support and fix the upper elastic force control fixed block (18) , the lower elastic force control fixed block (19); The guide rail (16) is fixed on the vehicle frame (1), and the upper elastic force control fixed block (18) and the lower elastic force control fixed block (19) can slide up and down along the guide rail (16); The upper elastic force control fixed block (18) is connected with the adjustment handwheel (24) through the lifting screw (20), and the upper elastic force control fixed block (18) can be adjusted by turning the adjustment handwheel (24). ) on the position of the lifting screw (20); The lower elastic control fixed block (19) is connected with the upper elastic control fixed block (18) through the spring (17), and the lower elastic control fixed block (19) is connected with the seat cushion through the rear elastic cord (4) connection; The guide rail (16) is provided with a limit block that limits the downward movement of the lower elastic force control fixed block (19). 3. The anti-fall rollator for lower limb rehabilitation training according to claim 2, characterized in that the elastic force adjustment device (8) also includes a wire for fixing the lower end of the lifting screw (20). Bar fixing block (21). 4. The anti-fall rollator for lower limb rehabilitation training according to claim 2 or 3, characterized in that, the elastic force adjustment device (8) also includes a lifting screw fixed on the lifting screw (20). A bearing (22), the bearing (22) is axially fixed by the bearing end cover (23). 5. A kind of anti-fall rollator for lower limb rehabilitation training according to claim 1, characterized in that, the other functional structures installed on the pallet frame (6) include a multifunctional controller (9 ), function key (11), emergency alarm button (10), cup holder groove (12), mobile phone bracket (13), described function key (11) is the control signal input device of rollator electronic equipment, and described emergency alarm The button (10) is used to provide emergency call and alarm services. 6. A kind of anti-fall rollator for lower limbs rehabilitation training according to claim 5, is characterized in that, the attitude sensor that is used for real-time monitoring motion attitude of rollator is installed in described multifunctional controller (9), The positioning chip used to detect the patient's position information in real time, and the wireless generator used to communicate with the terminal equipment. 7 . The anti-fall rollator for lower limb rehabilitation training according to claim 6 , characterized in that music and radio playback devices are also installed in the multifunctional controller ( 9 ). 8. The anti-fall rollator for lower limb rehabilitation training according to claim 1, further comprising a handrail (7), the handrail (7) is located above the pallet frame (6), and is used to Hold in both hands of the patient. 9. The anti-fall rollator for lower limb rehabilitation training according to claim 1, characterized in that the height of the vehicle frame (1) is adjustable. 10. A method utilizing the anti-fall rollator for lower limb rehabilitation training as claimed in any one of claims 1-9 to carry out rehabilitation training, characterized in that it comprises the steps of: S1. First, the patient puts on the upper and lower extremity exoskeleton rehabilitation robot (25) outside the fall-proof rollator; S2, before the patient enters the anti-fall rollator, open the front end of the tray frame (6) and the frame connecting rod connected by the front elastic cord, so that the patient can easily enter the anti-fall rollator; S3. After wearing the upper and lower extremity exoskeleton rehabilitation robot (25), the patient enters the exoskeleton robot for rehabilitation training with the assistance of family members or doctors.