CN110731782A - rehabilitation robot for patients with balance disorder - Google Patents
rehabilitation robot for patients with balance disorder Download PDFInfo
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- CN110731782A CN110731782A CN201910825883.2A CN201910825883A CN110731782A CN 110731782 A CN110731782 A CN 110731782A CN 201910825883 A CN201910825883 A CN 201910825883A CN 110731782 A CN110731782 A CN 110731782A
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- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
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- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
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- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
- A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
- A63B22/025—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation electrically, e.g. D.C. motors with variable speed control
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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
- 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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- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
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- A63B2022/0092—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements for training agility or co-ordination of movements
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Abstract
The invention belongs to the technical field of rehabilitation robots, and particularly relates to an kinds of rehabilitation robots for patients with dysequilibrium, which comprises a main body frame, wherein the main body frame is a vertically arranged rectangular frame body, a bottom plate of the main body frame is rotatably connected with a horizontal rotating fluted disc through a bearing, two bearing frames are fixedly arranged at the top end of the horizontal rotating fluted disc, the top surfaces of the two bearing frames are supported and connected with an arc plate through a supporting rotating rod, the top surface of the arc plate is a conical surface, a swinging rotating shaft is fixedly arranged in the middle of the top surface of the arc plate, and a swinging fluted disc is fixedly connected in series at the end of the swinging rotating shaft.
Description
Technical Field
The invention relates to the technical field of rehabilitation robots, in particular to a rehabilitation robot for patients with balance disorder.
Background
The method comprises the following steps of 1) carrying out a closed-eye test on a patient with dizziness or vertigo, increasing the incidence rate of balance disorder, becoming a problem to be solved urgently in the social and medical circles, wherein the balance disorder is multifaceted and is characterized by being related to vestibular dysfunction, many old people often fall down due to dizziness, all the systems of the old people, particularly certain functions of a nervous system are degraded, so that balance disorder occurs, neurons and a nerve fiber network are reduced along with the increase of age, the connection function of central and peripheral nerve fibers is reduced, the synaptic transmission function of the central part of the vestibular system is reduced, the response capacity to high-frequency stimulation is reduced, the organelles of the old people are reduced, the nerve transmission is obstructed, the capacity of mitochondria synthesis protein is reduced, the energy required by the nervous system with high efficiency is reduced, the cerebral degeneration related to the age is reduced, the balance disorder of the old people is often required to carry out multidisciplinary examination, besides evaluating vestibular disorder, the non-vestibular disorder is also required to consider the non-vestibular disorder, the detection method of carrying out a static balance examination on-eye disorder, the examination on-off-vestibule disorder, the examination on-head-stage, the normal-stage rehabilitation, the standing-stage rehabilitation examination of-stage rehabilitation, the normal-stage rehabilitation examination of the normal-stage rehabilitation, the normal-stage rehabilitation study of the normal-stage rehabilitation of the normal brain-stage rehabilitation, the normal-stage rehabilitation of the normal-stage rehabilitation patient, the normal-stage rehabilitation of the normal-stage rehabilitation.
But the current rehabilitation robot for the patient with balance disorder has the following problems:
1. at present, the environment list , the individuation is insufficient, and the motion state quantitative evaluation is lacked in the rehabilitation process of the patient with the balance disorder.
2. At present, the rehabilitation process of the patient with the balance disorder can only be evaluated and judged by medical staff facing the state of an illness, so that the patient with the balance disorder needs to go to a hospital to be detected and recovered to exercise, time and labor are wasted, and the recovery effect is poor.
Disclosure of Invention
() problems to be solved
Aiming at the defects of the prior art, the invention provides rehabilitation robots for patients with balance disorder, which mainly research the technologies of rehabilitation robot configuration, motion environment simulation, balance disorder quantitative evaluation standard, personalized rehabilitation prescription generation and the like aiming at the problems of single environment , insufficient personalization, lack of motion state quantitative evaluation and the like in the rehabilitation process of the patients with balance disorder, and can monitor the information of the postures, the myoelectricity and the like of the patients in real time and establish a balance disorder rehabilitation safety and quantitative evaluation system.
(II) technical scheme
In order to achieve the purpose, the invention provides rehabilitation robots for patients with balance disorders, which comprises a main body frame, wherein the main body frame is a vertically-arranged rectangular frame body, a bottom plate of the main body frame is rotatably connected with a horizontal rotating fluted disc through a bearing, two bearing frames are fixedly installed at the top end of the horizontal rotating fluted disc, the top surfaces of the two bearing frames are supported and connected with an arc-shaped plate through a supporting rotating rod, the top surface of the arc-shaped plate is a conical surface, a swinging rotating shaft is fixedly installed in the middle of the top surface of the arc-shaped plate, a swinging fluted disc is fixedly connected to the end of the swinging rotating shaft in series, a swinging support is embedded and installed on the top surface of the swinging rotating shaft, the arc-shaped plate is movably connected with the swinging rotating shaft, the swinging support is fixedly connected with the swinging rotating shaft.
The stepping crawler can support the two legs of a patient needing to treat balance disorder rehabilitation, when a treated person stands on the stepping crawler, the stepping crawler starts to move horizontally according to the set direction and speed, then the treated person can step off with the horizontal movement of the stepping crawler, and steps are performed in the main body frame along with the speed of the stepping crawler, at the moment, the angle of the arc plate can be adjusted through the rotation of the supporting rotary rod, so that the arc plate, the swing bracket and the stepping crawler form an inclination angle in the front-back direction to simulate the ascending slope or descending section in real life, thereby detecting the front-back balance capability of the treated person, carrying out angle adjustment appropriately according to the disease condition degree of the patient, realizing targeted treatment, and in the same way, the swing fluted disc can drive the swing rotating shaft to deflect to drive the swing bracket and the stepping crawler to swing left and right to simulate the inclined state of a road surface in reality, therefore, the state of balance disorder can be determined according to the frequency and amplitude of the patient swinging left and right and the degree of reaction of the patient body.
After having confirmed the state of an illness just can the corresponding rehabilitation of carrying on, for example the personnel's of being treated left right balance degree is not good, need carry out the rehabilitation training, then can deflect through swing bracket's the left and right sides, it swings left and right sides to drive the track of marking time, it carries out the rehabilitation training of left right balance degree to drive the treatment personnel of standing above it, it is not good as the personnel's of being treated front and back balance degree with the reason, then can change the angle of arc through the rotation of supporting the rod, make the track of marking time can carry out the fore-and-aft swing in the pitch range of settlement, thereby realize the rehabilitation training of front and back balance degree.
In the embodiment of step, the top of main body frame is passed through the flexible hose connection and is installed recovered detection cap, install pulse physiotherapy equipment, rhythm of the heart detector and electrothermometer in the recovered detection cap, human acupuncture point is connected in the laminating of pulse physiotherapy equipment, the laminating of rhythm of the heart detector is connected human chest or wrist, the laminating of electrothermometer is connected human chest or armpit.
The rehabilitation detection cap is worn on the head of a patient who carries out treatment, the pulse physiotherapy instrument is attached to and connected with human acupuncture points, pulse treatment is carried out on the patient who carries out rehabilitation training, the heart rate detector is attached to and connected with the chest or the wrist of a human body, the heartbeat frequency is detected, the electronic thermometer is attached to and connected with the chest or the armpit of the human body, the temperature of the human body is detected, and the heartbeat frequency and the temperature information which are detected are converted into electric signals respectively by the two.
In the embodiment, the two sides of the middle part of the main body frame are connected with handrail bars through clamping grooves in an embedded mode, the middle part of each handrail bar is provided with a control keyboard, and the two ends of each handrail bar are connected with tension sensors.
The handrail fence is used for balancing the disease both hands of rehabilitation, keep the steady of its health, the regulation and control keyboard includes around pitch angle modulation, control deflection angle modulation, and the translation speed of track of marking time is adjusted, so as to accord with every actual health status that carry out rehabilitation and operate, realize good rehabilitation effect, force sensor is used for detecting the external force that the disease health that carries out rehabilitation was applyed to two handrail fences, if the left side health of disease produces balanced obstacle, then its health must the left side slope, the disease is for keeping balance this moment, the handrail fence on right hand will be spur the right side, and then drive corresponding force sensor, so force sensor just can reflect the balanced state about the disease according to the pulling force in the side.
In the embodiment of steps, side of main body frame bottom is fixed with the rotating electrical machines, the rotor shaft of rotating electrical machines passes through gear connection the horizontal rotation fluted disc, end axial linkage that supports the rod that changes has the every single move accommodate motor, the end fixed mounting of arc has swing motor, the rotor shaft of swing motor passes through gear engagement and connects the swing fluted disc, states fixed mounting and has the track motor in the swing support, the rotor shaft of track motor passes through gear engagement and connects the rubber beam barrel, the outer disc frictional connection of rubber beam barrel the inboard of track of marking time.
The rotary motor can be connected with and drive the horizontal rotary fluted disc to rotate, so as to realize swinging in the horizontal direction and carry out waist twisting training on patients undergoing balance disorder rehabilitation training, the pitching adjusting motor drives the arc-shaped plate, the swinging support and the stepping crawler belt to form an inclination angle in the front-rear direction through the supporting rotating rod to simulate an uphill slope or a downhill slope in real life, so that the front-rear balance capability of the treated personnel is detected, and the angle adjustment is properly carried out according to the disease condition degree of the patients, when the swinging motor rotates, the swinging support and the stepping crawler belt are driven by the swinging fluted disc to swing left and right to simulate the road surface skew state in reality, so that the disease condition of the balance disorder is determined according to the frequency and amplitude of the left-right swinging of the patients and the reaction degree of the bodies of the patients, and the crawler motor drives the stepping crawler belt in frictional connection with the crawler belt to move horizontally through the rubber shaft rollers, so that the patients undergoing balance disorder treatment And (6) checking and treating.
In the embodiment of , side fixed mounting of main body frame has the switch board, fixed mounting has control unit and four motor drive in the switch board, heart rate detector, electrothermometer, regulation and control keyboard with tension sensor is electric connection respectively the input of control unit, the output electric connection of control unit pulse physiotherapy equipment and four motor drive's control end, four motor drive respectively electric connection with it correspond rotating electrical machines, every single move accommodate motor, swing motor and track motor.
The control unit adopts a CPU controller, the CPU controller is taken as a core element in the field of automatic control of the current computer, the popularization is realized in the fields of automatic control and artificial intelligence, and the CPU has the following basic functions in four aspects: the CPU takes out the instruction from the memory or the cache memory, puts the instruction into the instruction register and decodes the instruction, therefore, in the invention, the control unit can receive the corresponding information transmitted by the heart rate detector, the electronic thermometer, the control keyboard, the tension sensor and other components, classify and process different information, and then send out corresponding control instructions to the pulse physiotherapy instrument and the four motor drivers according to the input instruction signal and the program set in the control unit, thereby realizing automatic and intelligent processing and further well performing the rehabilitation training of the balance disorder of the patient.
In the embodiment at step , a voice player and a voice receiver are fixedly mounted on the top end of the main frame, and the voice player and the voice receiver are electrically connected to the corresponding interfaces of the control unit respectively.
The voice player can play audio signals, such as action instructions of medical staff, patients can perform corresponding rehabilitation actions according to the action instructions, or receiving encouraging languages from remote family members, and the voice receiver can receive the audio signals of the patients, for example, when the patients perform rehabilitation training alone, the voice receiver can communicate with the remote medical staff or the family members.
In the embodiment of step , the edge of the top end of the main frame is connected with four cameras, and the four cameras are all electrically connected to the input end of the control unit.
The four cameras shoot the patients with the balance disorder for rehabilitation without dead angles from the periphery of the patients with the balance disorder, and finally, the 3D images are synthesized through calculation of the control unit, so that the body actions of the patients with the balance disorder are analyzed through steps of the computer and compared with the forms in the computer, and the best rehabilitation treatment scheme is obtained.
In the embodiment at step , a wireless signal transmission chip is fixedly installed in the control cabinet, and the control unit is in signal connection with the remote medical institution through the wireless signal transmission chip.
The control unit is in signal connection with the remote medical institution through the wireless signal transmission chip, the state information of the patient with the balance disorder monitored by the control unit, including sound information and video information, is transmitted to the remote medical institution, and corresponding diagnosis is carried out by the reaction of professional medical personnel to the patient with the balance disorder, so that the posture, myoelectricity and other information of the patient can be monitored in real time, and a balance disorder rehabilitation safety and quantitative evaluation system is established.
(III) advantageous effects
Compared with the prior art, the invention provides rehabilitation robots for patients with balance disorder, which have the following beneficial effects:
1. the rehabilitation robot for the balance disorder patient aims at the problems of single environment , insufficient individuation, lack of quantitative assessment of motion state and the like in the rehabilitation process of the balance disorder patient, realizes an individualized rehabilitation prescription generation technology, can monitor information such as posture, myoelectricity and the like of the patient in real time, establishes a balance disorder rehabilitation safety and quantitative assessment system, can simulate scenes such as level roads, steps, mountain roads, sand beaches and the like, and has motion capture precision superior to two millimeters.
2. The robot for rehabilitation of patients with balance disorders is in signal connection with a remote medical institution through a wireless signal transmission chip, the state information of the patients with balance disorders monitored by the robot, including sound information and video information, is transmitted to the remote medical institution, and corresponding diagnosis is carried out by the reaction of professional medical personnel to the patients with balance disorders.
Drawings
FIG. 1 is a schematic view of the subjective structure of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic side view of the present invention;
FIG. 4 is a schematic diagram of a control circuit according to the present invention.
In the figure: 1. a main body frame; 2. a horizontal rotating fluted disc; 3. a bearing bracket; 4. supporting the rotary rod; 5. an arc-shaped plate; 6. swinging the rotating shaft; 601. a swing fluted disc; 7. a swing bracket; 8. a stepping crawler belt; 9. a rehabilitation detection cap; 10. a pulse physiotherapy instrument; 11. a heart rate detector; 12. an electronic thermometer; 13. an armrest rail; 14. regulating and controlling a keyboard; 15. a tension sensor; 16. a rotating electric machine; 17. a pitch adjustment motor; 18. a swing motor; 19. a track motor; 20. a rubber roll; 21. a control cabinet; 22. a control unit; 23. a motor driver; 24. a voice player; 25. a voice receiver; 26. a camera; 27. and a wireless signal transmission chip.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only partial embodiments of of the present invention, rather than all embodiments.
Examples
Referring to fig. 1-4, the invention provides a rehabilitation robot for patients with balance disorders, which comprises a main body frame 1, wherein the main body frame 1 is a vertically-arranged rectangular frame, a bottom plate of the main body frame 1 is rotatably connected with a horizontal rotating fluted disc 2 through a bearing, two bearing frames 3 are fixedly arranged at the top end of the horizontal rotating fluted disc 2, top surfaces of the two bearing frames 3 are in supporting connection with an arc-shaped plate 5 through a supporting rotating rod 4, the top surface of the arc-shaped plate 5 is a conical surface, a swinging rotating shaft 6 is fixedly arranged in the middle of the top surface of the arc-shaped plate 5, a swinging fluted disc 601 is fixedly connected in series with the end of the swinging rotating shaft 6, a swinging bracket 7 is embedded on the top surface of the swinging rotating shaft 6, the arc-shaped plate 5 is movably connected with the swinging rotating shaft 6, the swinging bracket 7 is fixedly connected.
In this embodiment, the stepping crawler 8 is used for supporting the two legs of the patient who needs to treat the balance disorder for rehabilitation, when the treated person stands on the stepping crawler 8, the stepping crawler 8 starts to move horizontally according to the set direction and speed, then the treated person can step off the steps along with the horizontal movement of the stepping crawler 8, and steps in the main body frame 1 along with the speed of the stepping crawler 8, at this time, the angle of the arc plate 5 can be adjusted through the rotation of the supporting rotary rod 4, so that the arc plate 5, the swing bracket 7 and the stepping crawler 8 form an inclination angle in the front-rear direction, and the upward slope or downward section in real life is simulated, thereby detecting the front-rear balance capability of the treated person, and performing the angle adjustment appropriately according to the state of an illness of the patient, realizing the targeted treatment, and in the same way, the swing fluted disc 601 can drive the swing rotating shaft 6 to deflect, and then the swing bracket 7 and the stepping crawler belt 8 are driven to swing left and right, and the actual state of the road surface skew is simulated, so that the state of illness of the balance obstacle is determined according to the frequency and the amplitude of the left and right swing of the patient and the reaction degree of the body of the patient.
After having confirmed the state of an illness just can the corresponding rehabilitation of carrying on, for example the personnel's of being treated left right balance degree is not good, need carry out the rehabilitation training, then can deflect through the left and right sides of swing bracket 7, drive the track 8 horizontal hunting of marking time, the treatment personnel who drives to stand above it carries out the rehabilitation training of left right balance degree, the same reason is not good as the personnel's of being treated front and back balance degree, then can adjust the angle of arc 5 through the rotation that supports commentaries on classics rod 4, make the track 8 of marking time can carry out the fore-and-aft oscillation in the front and back every single move range of settlement, thereby realize the rehabilitation training of front and back balance degree.
Specifically, the top of main body frame 1 is connected through flexible hose and is installed recovered detection cap 9, installs pulse physiotherapy equipment 10, heart rate detector 11 and electronic clinical thermometer 12 in recovered detection cap 9.
In this embodiment, recovered detection cap 9 is worn at the patient personnel head that carries out the treatment, and human acupuncture point is connected in the laminating of pulse physiotherapy equipment 10, carries out pulse therapy to the patient that carries out rehabilitation training, and human chest or wrist are connected in the laminating of rhythm of the heart detector 11, detects the heartbeat frequency, and human chest or armpit are connected in the laminating of electrothermometer 12, detect human temperature, and the two is the signal of telecommunication with heartbeat frequency and the temperature information conversion who detects respectively.
Specifically, the two sides of the middle part of the main body frame 1 are connected with handrail fences 13 through clamping grooves in an embedded mode, the middle part of each handrail fence 13 is provided with a control keyboard 14, and the two ends of each handrail fence 13 are connected with tension sensors 15.
In this embodiment, the handrail fence 13 is used for holding by both hands of the patient who carries out the balanced rehabilitation, keep the stability of his health, the regulation and control keyboard 14 includes the regulation of pitch angle around, the regulation of deflection angle about, and the translation speed of the track 8 of marking time, so as to accord with every actual health states of carrying out the rehabilitation and operate, realize good rehabilitation effect, tension sensor 15 is used for detecting the external force that the patient's health that carries out the rehabilitation was applyed to two handrail fences 13, if the left side health of patient produces the balance obstacle, then it must the left side of the health slope, the patient will pull the handrail fence 13 on right side this moment in order to keep balance, and then drive corresponding tension sensor 15, so tension sensor 15 just can reflect the left and right balanced state of patient according to the pulling force in the side.
Specifically, a rotating motor 16 is fixed on the side of the bottom end of the main body frame 1, a rotor shaft of the rotating motor 16 is connected with a horizontal rotating fluted disc 2 through a gear, a pitching adjusting motor 17 is axially connected with the end of the supporting rotating rod 4, a swinging motor 18 is fixedly installed at the end of the arc-shaped plate 5, the rotor shaft of the swinging motor 18 is connected with a swinging fluted disc 601 through gear engagement, a track motor 19 is fixedly installed in the swinging bracket 7, the rotor shaft of the track motor 19 is connected with a rubber shaft roller 20 through gear engagement, and the outer circular surface of the rubber shaft roller 20 is in friction connection with the inner side of the stepping track 8.
In this embodiment, the rotating motor 16 is connected to and drives the horizontal rotating gear disc 2 to rotate, so as to swing in the horizontal direction, so as to perform waist twisting training on patients who perform rehabilitation training for balancing disorders, the pitching adjusting motor 17 drives the arc-shaped plate 5, the swinging bracket 7 and the stepping crawler 8 to form an inclination angle in the front-rear direction through the supporting rotating rod 4, so as to simulate the ascending or descending of a slope in real life, thereby detecting the front-rear balance capability of the treated person, and performing angle adjustment appropriately according to the disease degree of the patients, when the swinging motor 18 rotates, the swinging bracket 7 and the stepping crawler 8 are driven by the swinging gear disc 601 to swing left and right, so as to simulate the road surface skew state in reality, thereby determining the disease state of the balancing disorders according to the frequency and amplitude of the left-right swinging of the patients and the reaction degree of the bodies of the patients, the crawler motor 19 drives the stepping crawler 8 frictionally connected with the crawler motor to move, so that patients who are treated for balance disorder can carry out static and dynamic balance check and treatment in the product of the invention.
Specifically, side fixed mounting of main body frame 1 has switch board 21, fixed mounting has the control unit 22 and four motor drive 23 in the switch board 21, heart rate detector 11, electrothermometer 12, regulation and control keyboard 14 and tension sensor 15 are electric connection control unit 22's input respectively, the control unit 22's output electric connection pulse physiotherapy equipment 10 and four motor drive 23's control end, four motor drive 23 respectively electric connection with its corresponding rotating electrical machines 16, every single move accommodate motor 17, swing motor 18 and track motor 19.
In this embodiment, the control unit 22 adopts a CPU controller, which is a core element in the field of automatic control of a computer at present, and is also popularized in the fields of automatic control and artificial intelligence, and the CPU has the following four basic functions: data communication, resource sharing, distributed processing and system reliability providing, the CPU takes out the instruction from the memory or the cache, puts the instruction into the instruction register and decodes the instruction, therefore, in the invention, the control unit 22 can receive the corresponding information transmitted by the heart rate detector 11, the electronic thermometer 12, the control keyboard 14, the tension sensor 15 and other components, classify and process different information, and then send out corresponding control instructions to the pulse physiotherapy instrument 10 and the four motor drivers 23 according to the input instruction signal and the program set in the pulse physiotherapy instrument, thereby realizing automatic and intelligent processing and further well performing the rehabilitation training of the balance disorder of the patient.
Specifically, a voice player 24 and a voice receiver 25 are fixedly mounted at the top end of the main body frame 1, and the voice player 24 and the voice receiver 25 are respectively electrically connected with corresponding interfaces of the control unit 22.
In this embodiment, the voice player 24 is configured to play an audio signal, such as an action instruction of a medical care provider, and a patient performs a corresponding rehabilitation action according to the action instruction, or receives an encouraging language from a remote family, and the voice receiver 25 is configured to receive the audio signal of the patient, for example, when the patient performs rehabilitation training alone, the patient can communicate with the remote medical care provider or the family through the voice receiver 25.
Specifically, the side of the top end of the main body frame 1 is connected with four cameras 26, and the four cameras 26 are all electrically connected to the input end of the control unit 22.
In this embodiment, the four cameras 26 shoot the patients with balance disorder for rehabilitation from their peripheries without dead angles, and finally synthesize 3D images through calculation of the control unit 22, so that the body movements of the patients with balance disorder are further analyzed by steps through the computer and compared with the forms in the computer, thereby obtaining the best rehabilitation treatment scheme.
Specifically, a wireless signal transmission chip 27 is fixedly installed in the control cabinet 21, and the control unit 22 is in signal connection with the remote medical institution through the wireless signal transmission chip 27.
In this embodiment, the control unit 22 is in signal connection with the remote medical institution through the wireless signal transmission chip 27, and transmits the state information of the patient with dysequilibrium monitored by the control unit, including the sound information and the video information, to the remote medical institution, so that professional medical personnel can perform corresponding diagnosis on the reaction of the patient with dysequilibrium, and can monitor the posture, myoelectricity and other information of the patient in real time, and establish a system for rehabilitation safety and quantitative evaluation of dysequilibrium.
The pulse physiotherapy instrument 10, the heart rate detector 11, the electronic thermometer 12, the tension sensor 15, the voice player 24, the voice receiver 25, the camera 26 and the wireless signal transmission chip 27 in the embodiment are already disclosed which is widely applied to the known technology of daily life.
The working principle and the using process of the invention are as follows: the stepping crawler 8 is used for supporting the two legs of a patient needing to treat balance disorder rehabilitation, when a person to be treated stands on the stepping crawler 8, the stepping crawler 8 starts to move horizontally according to a set direction and speed, then the person to be treated can step off along with the horizontal movement of the stepping crawler 8, stepping is carried out in the main body frame 1 along with the speed of the stepping crawler 8, at the moment, the angle of the arc plate 5 can be adjusted through rotation of the supporting rotary rod 4, so that the arc plate 5, the swinging support 7 and the stepping crawler 8 form an inclination angle in the front-back direction, an ascending slope or a descending slope in real life is simulated, the front-back balance capability of the person to be treated is detected, angle adjustment is properly carried out according to the disease condition degree of the patient, targeted treatment is realized, and similarly, the swinging fluted disc 601 can drive the swinging rotary shaft 6 to deflect, and further drive the swinging support 7 and the stepping crawler 8 to swing left and right, the state of the road surface skew in reality is simulated, so that the state of the balance disorder is determined according to the frequency and the amplitude of the left-right swing of the patient and the reaction degree of the body of the patient.
After having confirmed the state of an illness just can the corresponding rehabilitation of carrying on, for example the personnel's of being treated left right balance degree is not good, need carry out the rehabilitation training, then can deflect through the left and right sides of swing bracket 7, drive the track 8 horizontal hunting of marking time, the treatment personnel who drives to stand above it carries out the rehabilitation training of left right balance degree, the same reason is not good as the personnel's of being treated front and back balance degree, then can adjust the angle of arc 5 through the rotation that supports commentaries on classics rod 4, make the track 8 of marking time can carry out the fore-and-aft oscillation in the front and back every single move range of settlement, thereby realize the rehabilitation training of front and back balance degree.
Aiming at the problems of single environment , insufficient individuation, lack of motion state quantitative evaluation and the like in the rehabilitation process of a patient with balance disorder, the invention mainly researches the technologies of rehabilitation robot configuration, motion environment simulation, balance disorder quantitative evaluation standard, personalized rehabilitation prescription generation and the like, can monitor the posture, myoelectricity and other information of the patient in real time, establishes a balance disorder rehabilitation safety and quantitative evaluation system, can simulate the scenes of level roads, steps, mountain roads, sand beaches and the like, has the sole strength measurement precision superior to 0.5N and the motion capture precision superior to two millimeters.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
- The utility model provides an recovered robot of balanced obstacle patient, including main body frame (1), its characterized in that main body frame (1) is the rectangle framework of putting immediately, the bottom plate of main body frame (1) rotates through the bearing and is connected with horizontal rotation fluted disc (2), the top fixed mounting of horizontal rotation fluted disc (2) has two bearing brackets (3), two the top surface of bearing bracket (3) is rotated rod (4) through supporting and is supported and be connected with arc (5), arc (5) top surface is the conical surface, the middle part fixed mounting of arc (5) top surface has swing pivot (6), the end of swing pivot (6) concatenates and is fixed with swing fluted disc (601), swing support (7) are installed to the top surface gomphosis of swing pivot (6), arc (5) with swing pivot (6) are swing joint, swing support (7) with swing pivot (6) are fixed connection, the top fixed mounting of swing support (7) has track (8) of marking time.
- 2. The rehabilitation robot for patients with balance disorder according to claim 1, wherein the top end of the main frame (1) is connected and provided with a rehabilitation detecting cap (9) through a flexible hose, and the rehabilitation detecting cap (9) is internally provided with a pulse physiotherapy instrument (10), a heart rate detector (11) and an electronic thermometer (12).
- 3. The rehabilitation robot for patients with balance disorder according to claim 1, wherein the two sides of the middle of the main body frame (1) are connected with handrail bars (13) through clamping grooves in an embedded manner, the middle of the handrail bars (13) is provided with a control keyboard (14), and the two ends of the handrail bars (13) are connected with tension sensors (15).
- 4. The rehabilitation robot for patients with dysbalance as the claimed in claim 1, wherein a rotary motor (16) is fixed to the side of the bottom end of the main frame (1), the rotor shaft of the rotary motor (16) is connected to the horizontal rotary fluted disc (2) through a gear, the end of the supporting rotary rod (4) is axially connected to a pitch adjusting motor (17), the swing motor (18) is fixed to the end of the arc plate (5), the rotor shaft of the swing motor (18) is connected to the swing fluted disc (601) through a gear engagement, the track motor (19) is fixed to the swing bracket (7), the rotor shaft of the track motor (19) is connected to the rubber shaft roller (20) through a gear engagement, and the outer circular surface of the rubber shaft roller (20) is frictionally connected to the inner side of the tread (8).
- 5. The rehabilitation robot for patients with balance disorder according to claim 1, wherein a control cabinet (21) is fixedly installed at the side of the main body frame (1), a control unit (22) and four motor drivers (23) are fixedly installed in the control cabinet (21), the heart rate monitor (11), the electronic thermometer (12), the control keyboard (14) and the tension sensor (15) are respectively and electrically connected to the input end of the control unit (22), the output end of the control unit (22) is electrically connected to the pulse physiotherapy instrument (10) and the control ends of the four motor drivers (23), and the four motor drivers (23) are respectively and electrically connected to the corresponding rotating motor (16), the pitch adjustment motor (17), the swing motor (18) and the track motor (19).
- 6. The rehabilitation robot for patients with balance disorder according to claim 1, wherein a voice player (24) and a voice receiver (25) are fixedly mounted on the top end of the main body frame (1), and the voice player (24) and the voice receiver (25) are electrically connected to corresponding interfaces of the control unit (22), respectively.
- 7. The rehabilitation robot for patients with balance disorder as claimed in claim 1, wherein four cameras (26) are connected to the sides of the top of the main frame (1), and the four cameras (26) are all electrically connected to the input of the control unit (22).
- 8. The rehabilitation robot for patients with balance disorder according to claim 5, wherein a wireless signal transmission chip (27) is fixedly installed in the control cabinet (21), and the control unit (22) is in signal connection with a remote medical institution through the wireless signal transmission chip (27).
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| CN201910825883.2A CN110731782A (en) | 2019-09-03 | 2019-09-03 | rehabilitation robot for patients with balance disorder |
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| CN201910825883.2A CN110731782A (en) | 2019-09-03 | 2019-09-03 | rehabilitation robot for patients with balance disorder |
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