CN111467191B - Left-right swing balance training auxiliary tool for hemiplegia patient - Google Patents
Left-right swing balance training auxiliary tool for hemiplegia patient Download PDFInfo
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- CN111467191B CN111467191B CN202010395492.4A CN202010395492A CN111467191B CN 111467191 B CN111467191 B CN 111467191B CN 202010395492 A CN202010395492 A CN 202010395492A CN 111467191 B CN111467191 B CN 111467191B
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- 238000012549 training Methods 0.000 title claims abstract description 65
- 206010019468 Hemiplegia Diseases 0.000 title claims description 23
- 238000013519 translation Methods 0.000 claims abstract description 47
- 210000001015 abdomen Anatomy 0.000 description 35
- 238000012790 confirmation Methods 0.000 description 14
- 238000000034 method Methods 0.000 description 14
- 206010033799 Paralysis Diseases 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 210000003205 muscle Anatomy 0.000 description 5
- 206010033892 Paraplegia Diseases 0.000 description 3
- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 208000016285 Movement disease Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000001097 facial muscle Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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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
- 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
- A61H2001/0203—Rotation of a body part around its longitudinal axis
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
- A61H2201/0176—By stopping operation
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the field of medical equipment, in particular to a left-right swing balance training auxiliary tool for hemiplegic patients, which comprises a base, a control device, a lifting device, a translation device, a telescopic device, a rotating device, a folding device, a distance sensor and two swinging body devices, wherein the base is fixedly provided with the control device and fixed ends of the lifting device; the invention can simulate the actions of medical staff, help patients to perform left-right swing balance training, and lighten the workload of the medical staff.
Description
[ Field of technology ]
The invention relates to the field of medical equipment, in particular to a left-right swing balance training auxiliary tool for hemiplegic patients.
[ Background Art ]
Hemiplegia refers to movement disorder of upper and lower limbs, facial muscles and sublingual muscles on the same side, and is a common symptom of acute cerebrovascular diseases. Although the patients with the light hemiplegia can still move, the patients often get up, the upper limbs are buckled, and the lower limbs are straightened. The severe patients are often bedridden and lose life ability. Depending on the degree of hemiplegia, it can be classified into paraplegia, incomplete paralysis and total paralysis. Paraplegia: the muscle strength is weakened, the muscle strength is in the level of 4-5, the daily life is not generally influenced, the incomplete paralysis is heavier than the paraplegia, the range is larger, the muscle strength is in the level of 2-4, and the total paralysis is: the muscle strength is 0-1 level, and the paralyzed limb can not move at all.
For hemiplegia patients, rehabilitation training treatment is needed, and sitting position left-right swing balance training and standing position left-right swing balance training are common training modes in hemiplegia rehabilitation training; the operation method of the sitting posture left-right swing balance training is as follows: the patient is placed in a sitting position, the head of the patient is kept straight, the right hand of the nurse is supported on the left side of the chest of the patient, the left hand of the nurse is supported on the right side of the abdomen of the patient, the patient swings to the left side for a certain distance under the support of the nurse, the nurse supports the right hand on the left side of the abdomen of the patient, the left hand of the nurse is supported on the right side of the chest of the patient, and the patient swings to the right side for a certain distance under the support of the nurse, so that the steps are repeated; the standing posture left-right swing balance training is different from the sitting posture left-right swing balance training only in that the patient is in the standing posture position, and other operation methods and steps of the standing posture left-right swing balance training are the same as those of the sitting posture left-right swing balance training.
At present, when carrying out sitting position left-right swing balance training and standing position left-right swing balance training on hemiplegic patients, nurses need one-to-one whole course help, a great deal of working time of the nurses is needed, and a great deal of energy of the nurses is consumed; some existing auxiliary equipment, such as a Chinese invention hemiplegia rehabilitation daily exercise auxiliary device with application publication number of CN 110946739A and a Chinese invention hemiplegia patient rehabilitation training device with application number of CN201820441548.3, can assist the patient to perform rehabilitation training to a certain extent, but at present, no device capable of simulating the actions of medical staff and helping the patient perform sitting position left-right swing balance training and standing position swing balance training exists.
[ Invention ]
In order to solve the problems, the invention aims to provide a left-right swing balance training auxiliary tool for hemiplegic patients, which simulates the actions of medical staff, helps the patients to perform left-right swing balance training in sitting positions and left-right swing balance training in standing positions, and reduces the workload of the medical staff.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a hemiplegia patient swings balanced training appurtenance about, its characterized in that: the device comprises a base, a control device, a lifting device, a translation device, a telescopic device, a rotating device, a stretching device, a distance sensor and two pendulum devices;
The lower end face of the base is horizontally placed, the upper end face of the base is fixedly provided with a control device and a fixed end of the lifting device, the upper end of the controller is provided with a parameter input operation panel, the movable direction of the movable end of the lifting device is along a vertical straight line direction, the movable end of the lifting device is fixedly connected with the fixed end of the translation device, the movable direction of the movable end of the translation device is along a horizontal straight line direction, the movable end of the translation device is fixedly connected with the fixed end of the telescopic device, the movable direction of the movable end of the telescopic device is vertical to the movable direction of the movable end of the lifting device and also vertical to the movable direction of the movable end of the translation device, the movable end of the telescopic device is fixedly connected with the fixed end of the rotating device, and the rotating axis of the movable end of the rotating device is parallel to the movable direction of the movable end of the telescopic device; the movable end of the rotating device is fixedly connected with the fixed end of the opening and closing device, the opening and closing device comprises two movable ends, the two movable ends of the opening and closing device move along a straight line which is perpendicular to the rotating axis of the movable end of the rotating device, the distance sensor is fixedly arranged at the fixed end of the opening and closing device, the measuring end of the distance sensor is opposite to the rotating device, the measuring direction of the distance sensor is perpendicular to the moving directions of the two movable ends of the opening and closing device, the swinging body device comprises a connecting rod and a supporting plate, the supporting plate is rotationally connected with one end of the connecting rod, the mass of the supporting plate at the lower end part of the rotating axis of the supporting plate is greater than the mass of the supporting plate at the upper end part of the rotating axis of the supporting plate, the connecting rods of the two swinging body devices are respectively fixedly connected with the two movable ends of the opening and closing device, the rotating axes of the supporting plates of the two swinging body devices are parallel to the rotating axis of the movable end of the rotating device, and the length directions of the supporting plates of the two swinging body devices are parallel to the rotating axis of the movable end of the rotating device; the control device is respectively connected with the lifting device, the translation device, the telescopic device, the rotation device, the opening and closing device and the distance sensor control circuit.
Preferably, the lifting device and the telescopic device are both electric push rods; the translation device is an electric sliding table; the rotating device is a servo motor; the opening and closing device comprises two electric push rods, the fixed ends of the two electric push rods are fixedly connected, and the fixedly connected ends are fixed ends of the opening and closing device; the distance sensor is a TOF distance sensor; further preferably, the controller is a computer or a programmable single-chip microcomputer of a windows system, and the operation panel is a touch panel.
Preferably, opposite sides of the two armrests are covered with cushioning.
Preferably, the control device is provided with a horn.
Preferably, the base comprises two support rods and a support plate, the length directions of the two support rods are horizontally and oppositely arranged, the length directions of the two support rods are parallel, two ends of the support plate are respectively and vertically fixedly connected with the two support rods, and the fixedly connected ends are respectively positioned between the middle parts and the end parts of the two support rods; the fixed end of the lifting rod is fixedly connected with the middle part of the supporting plate; the moving direction of the movable end of the telescopic device is parallel to the length direction of the supporting rod, and the rotating device, the opening and closing device, the distance sensor and the two pendulum devices are all positioned on one side corresponding to the longer side of the supporting rod.
Preferably, the vehicle further comprises a plurality of wheels and braking devices, wherein the wheels are arranged on two sides of the bottom plate, and the braking devices are arranged in the wheels; further preferably, the plurality of wheels are two crawler wheels, the length direction of the crawler wheels is parallel to the moving direction of the movable end of the telescopic rod, the braking device is an electric braking device, and the braking device is connected with a control circuit of the control device; still further preferably, the device further comprises a storage battery, wherein the storage battery is arranged on the base and is respectively connected with the control device, the lifting device, the translation device, the expansion device, the rotation device, the opening and closing device and the distance sensor; still further preferably, a pushing hand is provided at an end of the bottom plate facing away from the rotating device, and a length direction of the pushing hand is inclined upward from the bottom plate facing away from the rotating device.
A control method of a left-right swing balance training auxiliary tool for hemiplegia patients comprises the following steps:
(1) Position location: presetting a coordinate corresponding to the lifting direction of the movable end of the lifting device as a Y coordinate, a coordinate corresponding to the translation direction of the movable end of the translation device as an X coordinate, and a coordinate corresponding to the expansion direction of the movable end of the expansion device as a Z coordinate, wherein the control device collects data of chest width, waist width, chest thickness, abdomen thickness, chest midpoint Y coordinate value, chest midpoint X coordinate value, abdomen midpoint Y coordinate value and abdomen midpoint X coordinate value of a patient, and calculates chest midpoint Y coordinate value and chest midpoint X coordinate value according to the chest midpoint Y coordinate value, the chest midpoint X coordinate value, the abdomen midpoint Y coordinate value and the abdomen midpoint X coordinate value; the distance sensor is driven to move to the front of the middle point position of the chest and abdomen of the patient through the lifting device and the translation device, X coordinate value position coordinates of the left side and the right side of the middle part of the chest and abdomen are calculated according to the chest width, the waist width, the chest thickness and the abdomen thickness, and the two support plates are driven to be respectively positioned at the left side and the right side of the middle part of the chest and abdomen through the stretching device, the rotation device and the opening-closing device;
(2) And (3) swinging right once: the control device calculates Y coordinate values of two sides of the chest width direction, X coordinate values of two sides of the chest width direction, Y coordinate values of two sides of the waist width direction and X coordinate values of two sides of the waist width direction according to data of the chest width, the waist width, the chest thickness, the abdomen thickness, the chest midpoint Y coordinate value, the chest midpoint X coordinate value, the abdomen midpoint Y coordinate value and the abdomen midpoint X coordinate value; the rotating device and the opening and closing device drive the two support plates to respectively attach to the right side of the chest and the left side of the waist of a patient, and the translation device drives the opening and closing device 7 to move rightward by a distance S;
(3) Left swing once: the rotating device and the opening and closing device drive the two support plates to respectively attach to the left side of the chest and the right side of the waist, and the translation device drives the opening and closing device 7 to move leftwards for a distance of 2S;
(4) And (3) swinging right once: the rotating device and the opening and closing device drive the two support plates to respectively attach to the right side of the chest and the left side of the waist, and the translation device drives the opening and closing device 7 to move rightwards for a distance of 2S;
(5) Repeat: repeating the steps (3) and (4) until the swinging times are set;
(6) And (5) left and right return: the rotating device and the opening and closing device drive the two support plates to respectively attach to the left side of the chest and the right side of the waist, and the translation device drives the opening and closing device 7 to move leftwards by a distance S;
(7) Separating: the opening and closing device drives the two support plates to be separated from the patient, the telescopic device is contracted to the shortest, and the movable end of the translation device moves to the middle of the stroke.
In conclusion, by adopting the technical scheme, the invention has the beneficial effects that:
according to the invention, the left and right positions of the chest and the abdomen of a patient can be calculated through the data input on the operation panel of the control device and the data measured by the distance sensor, so that the two hands of a patient simulated medical care person are controlled to be accurately placed on the corresponding positions of the patient, and the patient is helped to complete the sitting position left and right swing balance training and the standing position left and right swing balance training through the motion coordination of the translation device, the telescopic device and the opening and closing device, thereby reducing the work load of the medical care person; according to the severity of the illness state of the patient, the invention can properly adjust the frequency of the left-right swing balance training and the speed of the left-right swing balance training, and is suitable for patients with various illness states; in the process of helping a patient to carry out rehabilitation training, whether the patient has unexpected dumping can be judged by the data measured by the distance sensor, and if the patient has unexpected dumping, the lifting device, the translation device, the telescopic device, the rotation device and the opening and closing device pause movement under the control of the control device and can help through the loudspeaker, so that the possibility that the patient cannot be found in time after unexpected dumping in the rehabilitation training process is greatly reduced; in some embodiments of the invention, the invention is also provided with a storage battery, so that the invention can be normally used under the condition of inconvenient use of an external power supply, and devices such as wheels, pushing hands and the like are added, so that the invention can be conveniently transferred and placed.
[ Description of the drawings ]
Fig. 1 is a schematic diagram of a first embodiment of a left-right swing balance training aid for hemiplegia patients according to an embodiment of the present invention.
Fig. 2 is a partial enlarged view at a in fig. 1.
Fig. 3 is a schematic diagram of a control relationship of a first embodiment of a left-right swing balance training aid for hemiplegia patients according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a second embodiment of a left-right swing balance training aid for hemiplegia patients according to the present invention.
Fig. 5 is a schematic diagram of a third embodiment of a left-right swing balance training aid for hemiplegia patients according to the present invention.
Fig. 6 is a schematic diagram of a control relationship of a third embodiment of a balance training aid for left and right swing of a hemiplegia patient according to an embodiment of the present invention.
Wherein: 1-base, 11-bracing piece, 12-backup pad, 13-wheel, 14-pushing hands, 2-controlling means, 21-operating panel, 22-battery, 3-elevating gear, 4-translation device, 5-telescoping device, 6-rotation device, 7-opening and closing device, 71-distance sensor, 8-pendulum body device, 81-connecting rod, 82-handrail.
[ Detailed description ] of the invention
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The drawings are for illustrative purposes only, are schematic representations and are not intended to be limiting of the present patent, and in order to better illustrate the embodiments of the present invention, certain elements of the drawings may be omitted, enlarged or reduced, and not represent the actual product size, it will be understood by those skilled in the art that certain well-known structures, elements and descriptions thereof may be omitted, and that all other embodiments obtained by those skilled in the art without making inventive efforts are within the scope of protection of the present invention based on the embodiments of the present invention.
Referring to fig. 1-3, in a preferred embodiment of the present invention, a left-right swing balance training auxiliary tool for hemiplegic patients comprises a base 1, a control device 2, a lifting device 3, a translation device 4, a telescopic device 5, a rotation device 6, a folding device 7, a distance sensor 71 and two swinging body devices 8;
The lower end surface of the base 1 is horizontally arranged, the upper end surface is fixedly provided with a control device 2 and a fixed end of a lifting device 3, the upper end of the controller is provided with an operation panel 21, the movable direction of the movable end of the lifting device 3 is along the vertical straight line direction, the movable end of the lifting device 3 is fixedly connected with the fixed end of a translation device 4, the movable direction of the movable end of the translation device 4 is along the horizontal straight line direction, the movable end of the translation device 4 is fixedly connected with the fixed end of a telescopic device 5, the movable direction of the movable end of the telescopic device 5 is vertical to the movable direction of the movable end of the lifting device 3 and also vertical to the movable direction of the movable end of the translation device 4, the movable end of the telescopic device 5 is fixedly connected with the fixed end of a rotating device 6, the rotating axis of the rotating device 6 is parallel to the movable direction of the movable end of the telescopic device, the movable end of the rotating device 6 is fixedly connected with the fixed end of the opening and closing device 7, the opening and closing device 7 comprises two movable ends, the two movable ends of the opening and closing device 7 move along a straight line which is perpendicular to the rotating axis of the movable end of the rotating device 6, the distance sensor 71 is fixedly arranged at the fixed end of the opening and closing device 7, the measuring end of the distance sensor 71 faces away from the rotating device 6, the measuring direction of the distance sensor 71 is perpendicular to the moving direction of the two movable ends of the opening and closing device 7, the pendulum device 8 comprises a connecting rod 81 and a supporting plate 82, the supporting plate 82 is rotationally connected with one end of the connecting rod 81, the mass of the supporting plate 82 at the lower end part of the rotating axis of the supporting plate 82 is larger than the mass of the supporting plate 82 at the upper end part of the rotating axis of the supporting plate 82, and under the action of gravity, the plate surfaces of the two supporting plates 82 are kept perpendicular to the horizontal plane; one end of the connecting rod 81 of the two pendulum devices 8, which is opposite to the respective supporting plate 82, is fixedly connected with the two movable ends of the opening and closing device 7 respectively, the rotation axes of the supporting plates 82 of the two pendulum devices 8 are parallel to the rotation axes of the movable ends of the rotating devices 6, and the length directions of the supporting plates 82 of the two pendulum devices 8 are parallel to the rotation axes of the movable ends of the rotating devices 6; the control device 2 is respectively connected with a lifting device 3, a translation device 4, a telescopic device 5, a rotating device 6, a folding device 7 and a distance sensor 71.
In this embodiment, the lifting device 3 and the telescopic device 5 are both electric push rods; the translation device 4 is an electric sliding table; the rotating device 6 is a servo motor; the opening and closing device 7 comprises two electric push rods, the fixed ends of the two electric push rods are fixedly connected, and the fixed end is the fixed end of the opening and closing device 7; the distance sensor 71 is a TOF distance sensor 71; The controller is a computer of windows system or a programmable singlechip, the numerical values of the length of the connecting rod and the length of the handrail plate are preset in the controller, the coordinate corresponding to the lifting direction of the movable end of the lifting device is preset as Y coordinate, the coordinate corresponding to the translation direction of the movable end of the translation device is preset as X coordinate, the coordinate corresponding to the expansion direction of the movable end of the expansion device is Z coordinate, the operation panel 21 is a touch panel, the system interface on the operation panel 21 is provided with an up-shift option, a down-shift option, a left-shift option, a right-shift option, a confirmation option, a start option, a pause option, a stop option, a parameter item which has to be input, a single-choice parameter item and a preset but changeable parameter item, Wherein the up-shift option controls the movable end of the lifting device 3 to move upwards, the down-shift option controls the movable end of the lifting device 3 to move downwards, the left-shift option controls the movable end of the translation device 4 to move leftwards, and the right-shift option controls the movable end of the translation device 4 to move rightwards; Parameters which must be input include chest width, waist width, chest thickness and abdomen thickness of a patient, wherein single-choice parameter items are sitting position swing balance training or standing position swing balance training, and preset but modifiable parameters comprise left and right swing balance training times and left and right swing balance training speed, wherein the input value of the left and right swing balance training speed is a multiple value of the preset speed; in order to reduce adverse effects caused by possible misoperation, when the chest circumference input value exceeds the range of 80-110cm and is in the range of 70-120cm, a system interface warns and prompts, and 2 times of confirmation are needed; when the chest circumference input value exceeds the range of 70-120cm, a system interface warns and prompts, and 5 times of confirmation are needed; When the waistline input value exceeds the range of 60-90cm and is within the range of 50-100cm, the system interface warns and prompts, and 2 times of confirmation are needed; when the waistline input value exceeds the range of 50-100cm, the system interface warns and prompts, and 5 times of confirmation are needed; when the sitting height input value exceeds the range of 80-110cm and is in the range of 70-120cm, the system interface warns and prompts, and 2 times of confirmation are needed; when the sitting height input value exceeds the range of 70-120cm, the system interface warns and prompts, and 5 times of confirmation are needed; when the height input value exceeds the range of 155-185cm and is in the range of 145-195cm, the system interface warns and prompts, and 2 times of confirmation are needed; When the sitting height input value exceeds the range of 145-195cm, the system interface warns and prompts, and 5 times of confirmation are needed; when the input value of the left and right swing balance training times exceeds 10-20 but is within the range of 5-30, the system interface warns and prompts, and needs to carry out 2 times of confirmation, and when the input value of the left and right swing balance training times exceeds the range of 5-30, the system interface warns and prompts, and needs to carry out 5 times of confirmation; when the input value of the left and right swing balance training speed exceeds the range of 0.75-1.5 but is within the range of 0.5-2, the system interface warns and prompts, and needs to carry out 2 times of confirmation, and when the input value of the left and right swing balance training speed exceeds the range of 0.5-2, the system interface warns and prompts, and needs to carry out 5 times of confirmation.
The embodiment is mainly used for simulating hands of medical staff and assisting the horizontal rehabilitation exercise of hemiplegic patients: the patient is in a sitting position or a standing position, the two arms are naturally separated, the medical staff is positioned in front of the patient, the right hand of the medical staff is supported on the left side of the waist of the patient, the left hand of the medical staff is supported on the right side of the chest of the patient, and the patient slowly and actively swings the body to the right; the medical staff holds the right hand on the left side of the chest of the patient and the left hand on the right side of the abdomen of the patient, and the patient slowly and actively swings the body leftwards; medical staff holds the right hand on the left side of the abdomen of the patient, holds the left hand on the right side of the chest of the patient, and the patient slowly and actively swings the body rightwards, so that the distance between the hands of the medical staff and the patient is not more than 5cm at the maximum in the process, so that the patient can be supported in time when the sitting posture or standing posture of the patient is unstable.
The use and control method of the present embodiment includes the steps of:
the sitting posture swing balance training step:
1. In this embodiment, before the bed, the length direction of the telescopic device 5 is perpendicular to the length direction of the bed, the power supply is turned on, and the control device 2 controls the telescopic device 5 and the rotating device 6 to complete resetting: the telescopic device 5 is retracted to the shortest and the rotating device 6 enables the length direction of the opening and closing device 7 to be horizontal.
2. The patient sits at the bedside, the patient faces the embodiment, the front-back direction of the body is parallel to the length direction of the telescopic device 5, the body part corresponds to the middle part of the translation device 4 approximately, the two arms of the patient are separated left and right naturally, and the palm is placed on the bed naturally.
3. The medical staff selects sitting position swing balance training, touches the up-shift option, the down-shift option, the left-shift option and the right-shift option, enables the distance sensor of the rotating device to be approximately aligned with the middle point of the chest of the patient, clicks the confirmation option, and the control device 2 records the Y coordinate value and the X coordinate value of the point; the medical staff touches the up-shift option and the down-shift option to make the distance sensor approximately aim at the midpoint of the abdomen of the patient, and clicks the confirm option, and the control device 2 records the Y-coordinate value and the X-coordinate value of the point.
4. Parameters of chest width, waist width, chest thickness and abdomen thickness are input on the operation panel 21, and the starting option is clicked, and the working procedure of this embodiment is as follows:
(1) The control device 2 calculates the coordinate value of the coordinate of the chest midpoint and the coordinate value of the X coordinate of the abdomen midpoint according to the coordinate value of the Y coordinate of the chest midpoint, the coordinate value of the X coordinate of the chest midpoint, the coordinate value of the Y coordinate of the abdomen midpoint and the coordinate value of the X coordinate of the abdomen midpoint of the patient, wherein the calculation formula is as follows: ① Chest and abdomen midpoint Y coordinate value = [ (chest midpoint Y coordinate value + abdomen midpoint Y coordinate value)/2 ], ② chest and abdomen midpoint X coordinate value = chest midpoint X coordinate value; the control device 2 controls the lifting device 3 to drive the distance sensor 71 to move to the front of the position corresponding to the chest and abdomen midpoint of the patient, the opening and closing device 7 drives the two support plates 82 to move, the distance between the two support plates 82 is slightly larger than the numerical distance of the larger one of the chest width and waist width of the patient, the telescopic device 5 stretches, the distance sensor transmits the distance between the distance sensor and the position corresponding to the chest and abdomen midpoint of the patient to the control device 2 in real time, when the distance between the distance sensor and the position corresponding to the chest and abdomen midpoint of the patient is = [ connecting rod length+support plate length/2- (chest thickness+abdomen thickness)/4 ], the telescopic device 5 stretches and stops, and at the moment, the two support plates 82 are respectively positioned at the left side and the right side corresponding to the chest and abdomen middle of the patient, and the difference is within 3 cm.
(2) The control device 2 controls the rotating device 6 to drive the two support plates 82 to rotate anticlockwise around the output shaft of the rotating device 6 by a certain angle according to the chest width, the waist width, the chest midpoint Y coordinate value, the chest midpoint X coordinate value, the abdomen midpoint Y coordinate value and the abdomen midpoint X coordinate value, and the angle is alpha, and alpha = arctan { chest midpoint to abdomen midpoint distance/[ (chest width+waist width)/2 ] }, meanwhile controls the opening and closing device 7 to drive the two support plates 82 to move away by a certain distance, and sets the distance as L= (chest midpoint to abdomen midpoint distance 2 +chest width 2)0.5, so that the two support plates 82 are respectively attached to the right side and the left side of the chest of a patient, and the chest width value is selected for calculating L mainly because the softness of two sides of the chest of a human body is poor relative to the softness of two sides of the waist, and the softness of the two support plates 82 need to be relatively high precision when attached to the chest, and the error is within 2cm when the two support plates 82 are attached to the two sides of the waist of the human body is an acceptable range, and the control device 2 controls the translation device 4 to drive the two support plates 82 to move to the right side of the human body to a certain distance S < 3cm, and the medical staff swings to the right side for a certain distance S < 3 cm;
(3) After the action (2) is finished, the rotating device 6 is controlled to drive the two support plates 82 to rotate clockwise by an angle of 2 alpha around an output shaft of the rotating device 6, meanwhile, the opening and closing device 7 is controlled to drive the two support plates 82 to move in opposite directions by a distance L and then to separate from the distance L, so that the two support plates 82 are respectively attached to the left side and the right side of the waist of the chest of a patient, and meanwhile, the translation device 4 is controlled to drive the two support plates 82 to move in the left direction by a distance of 2S, and the patient is supported by a simulated medical staff to swing in the left direction once;
(4) After the action (3) is finished, the rotating device 6 is controlled to drive the two support plates 82 to rotate anticlockwise by an angle 2 alpha around an output shaft of the rotating device 6, meanwhile, the opening and closing device 7 is controlled to drive the two support plates 82 to move in opposite directions by a distance L and then to move in opposite directions by a distance L, so that the two support plates 82 are respectively attached to the right side and the left side of the waist of a patient, and meanwhile, the translation device 4 is controlled to drive the two support plates 82 to move in the right direction by a distance 2S, and the patient is supported by a simulation medical staff to swing in the right direction once; the action (3) and the action (4) are repeated once, namely, the left and right swing balance training of the patient is supported by the simulation medical staff once;
(5) After the left-right swing balance training times reach a set value, controlling the rotating device 6 to drive the two support plates 82 to rotate clockwise by an angle of 2 alpha around an output shaft of the rotating device 6, simultaneously controlling the opening and closing device 7 to drive the two support plates 82 to move in opposite directions by a distance L and then to move in opposite directions by a distance L, enabling the two support plates 82 to be respectively attached to the left side and the right side of the waist of the chest of a patient, simultaneously controlling the translation device 4 to drive the two support plates 82 to move in the left direction by a distance S, and simulating the medical staff to support the patient to the original sitting posture;
the distance between the two support plates 82 and the human body is not more than 5cm at maximum in the process from the action (2) to the action (5), so that the patient can be supported in time when the sitting posture of the patient is unstable, and the possibility of toppling of the patient is reduced; when the distance sensor 71 detects that the value suddenly increases by a larger extent or suddenly decreases by a larger extent in the process of assisting the patient in rehabilitation training, the control device 2 judges that the patient may accidentally topple over, and controls the lifting device 3, the translation device 4, the telescopic device 5, the rotation device 6 and the opening and closing device 7 to pause movement, so that the possibility of injury to the patient caused by the embodiment is reduced.
5. After the step 4 is completed, the opening and closing device 7 drives the two support plates 82 to be separated from the patient, the telescopic device 5 is contracted to the shortest, and the movable end of the translation device 4 moves to the middle of the stroke; the patient gets up and leaves or lies back on the bed.
Standing posture swing balance training step:
1. The patient stands at the position 30-50cm in front of the rotating device 6 in the embodiment, the front face faces the rotating device 6, the body part is approximately corresponding to the middle part of the translation device 4, and the two arms of the patient are naturally separated left and right;
The steps 2 to 4 are the same as the steps 3 to 5 of the sitting posture swing balance training step respectively.
Preferably, the opposite sides of the two armrests are covered with cushioning to reduce the pain of the patient and increase the comfort of the patient.
Preferably, the control device 2 is provided with a loudspeaker, and when the embodiment starts to start, each step starts and training is finished, the control device 2 plays a report prompt through the loudspeaker; when the control device 2 judges that the patient possibly falls accidentally in the process of helping the patient to carry out rehabilitation training, the loudspeaker sends out a help-seeking sound signal.
Referring to fig. 4, in the second embodiment, the base 1 includes two support rods 11 and a support plate 12, the two support rods 11 are horizontally opposite to each other in length direction, the two support rods 11 are parallel in length direction, two ends of the support plate 12 are respectively and vertically fixedly connected with the two support rods 11, and the fixedly connected ends are respectively located between the middle parts and the end parts of the two support rods 11; the fixed end of the lifting rod is fixedly connected with the middle part of the supporting plate 12; the moving direction of the moving end of the telescopic device 5 is parallel to the length direction of the supporting rod 11, and the rotating device 6, the opening and closing device 7, the distance sensor 71 and the two pendulum devices 8 are all positioned on one side which corresponds to the longer side of the supporting rod 11.
The setting of base 1 in this embodiment can reduce the area of base 1 under the circumstances of increase base 1 supporting moment, reduces this embodiment whole weight, and when carrying out position of sitting swing balance training, base 1 two bracing pieces 11 can insert the bed end from patient foot left and right sides, reduces to influence patient foot because of base 1 is great and places, and when carrying out position of standing swing balance training, base 1 two bracing pieces 11 are located patient foot left and right sides, avoids the patient to trample base 1 and causes the position of standing unstable.
Referring to fig. 5 to 6, in the third embodiment, a plurality of wheels 13 and braking devices are further included in the third embodiment, the wheels 13 are installed on two sides of the bottom plate, the braking devices are installed in the wheels 13, the wheels 13 are used for facilitating the transfer of the present embodiment, and the braking devices are used for locking the wheels 13 to rotate so as to prevent the present embodiment from displacing relative to the ground during the working process.
Preferably, the wheels 13 are two crawler wheels, the length direction of the crawler wheels is parallel to the moving direction of the movable end of the telescopic rod, the braking device is an electric braking device, the braking device is connected with a control circuit of the control device 2, the braking device is controlled through an operation panel 21 of the control device 2, the grip performance of the crawler wheels is good, the crawler wheels can be placed more stably after locking, and possible shaking in the use process is reduced.
Preferably, the storage battery 22 is further included, the storage battery 22 is mounted on the base 1, and the storage battery 22 is respectively connected with the control device 2, the lifting device 3, the translation device 4, the telescopic device 5, the rotation device 6, the opening and closing device 7 and the distance sensor 71, so that the trouble of pulling the power line in the use process of the embodiment is reduced, and the invention can be normally used under the condition that an external power source is inconvenient to use.
Preferably, the end of the bottom plate facing away from the rotating device 6 is provided with a pushing handle 14, and the length direction of the pushing handle 14 is inclined upwards from the bottom plate facing away from the rotating device 6, so as to provide a better acting point when transferring the embodiment.
The foregoing description is directed to the preferred embodiments of the present invention, but the embodiments are not intended to limit the scope of the invention, and all equivalent changes or modifications made under the technical spirit of the present invention should be construed to fall within the scope of the present invention.
Claims (7)
1. A hemiplegia patient swings balanced training appurtenance about, its characterized in that: the device comprises a base, a control device, a lifting device, a translation device, a telescopic device, a rotating device, a stretching device, a distance sensor and two pendulum devices;
The lower end face of the base is horizontally arranged, the upper end face of the base is fixedly provided with a control device and a fixed end of a lifting device, the upper end of the control device is provided with a parameter input operation panel, the moving direction of the movable end of the lifting device is along a vertical straight line direction, the moving direction of the movable end of the lifting device is fixedly connected with the fixed end of the translation device, the moving direction of the movable end of the translation device is along a horizontal straight line direction, the moving direction of the movable end of the translation device is fixedly connected with the fixed end of the expansion device, the moving direction of the movable end of the expansion device is vertical to the moving direction of the movable end of the lifting device, the moving end of the expansion device is fixedly connected with the fixed end of the rotation device, and the rotation axis of the movable end of the rotation device is parallel to the moving direction of the movable end of the expansion device; the movable end of the rotating device is fixedly connected with the fixed end of the opening and closing device, the opening and closing device comprises two movable ends, the two movable ends of the opening and closing device move along a straight line which is perpendicular to the rotating axis of the movable end of the rotating device, the distance sensor is fixedly arranged at the fixed end of the opening and closing device, the measuring end of the distance sensor faces away from the rotating device, the measuring direction of the distance sensor is perpendicular to the moving direction of the two movable ends of the opening and closing device, the pendulum device comprises a connecting rod and a support plate, the support plate is rotationally connected with one end of the connecting rod, the mass of the support plate at the lower end part of the rotating axis of the support plate is larger than the mass of the support plate at the upper end part of the rotating axis of the support plate, one end of the connecting rod of each pendulum device, which faces away from the support plate, is respectively connected with the two movable ends of the opening and closing device, the rotating axis of the support plate of each pendulum device is parallel to the rotating axis of the movable end of the rotating device, and the length direction of the support plate of each pendulum device is parallel to the rotating axis of the movable end of the rotating device. The control device is respectively connected with the lifting device, the translation device, the expansion device, the rotation device, the opening and closing device and the distance sensor control circuit;
The control device is provided with a loudspeaker;
The base comprises two support rods and a support plate, the length directions of the two support rods are horizontally and oppositely arranged, the length directions of the two support rods are parallel, two ends of the support plate are respectively and vertically fixedly connected with the two support rods, and the fixedly connected ends are respectively positioned between the middle parts and the end parts of the two support rods; the fixed end of the lifting device is fixedly connected with the middle part of the supporting plate; the movable direction of the movable end of the telescopic device is parallel to the length direction of the supporting rod, and the rotating device, the opening and closing device, the distance sensor and the two pendulum devices are all positioned at one side corresponding to the longer side of the supporting rod.
2. The left-right swing balance training aid for hemiplegia patients according to claim 1, wherein: the lifting device and the telescopic device are both electric push rods; the translation device is an electric sliding table; the rotating device is a servo motor; the opening and closing device comprises two electric push rods, the fixed ends of the two electric push rods are fixedly connected, and the fixedly connected end is the fixed end of the opening and closing device; the distance sensor is a TOF distance sensor.
3. The left-right swing balance training aid for hemiplegia patients according to claim 1, wherein: the control device is a computer of a windows system or a single chip microcomputer capable of being carried out, and the operation panel is a touch panel.
4. The left-right swing balance training aid for hemiplegia patients according to claim 1, wherein: one surface of each of the two support plates, which is opposite to the other surface, is covered with a soft cushion.
5. The left-right swing balance training aid for hemiplegia patients according to claim 1, wherein: the novel bicycle is characterized by further comprising a plurality of wheels and braking devices, wherein the wheels are arranged on two sides of the base, and the braking devices are arranged in the wheels.
6. The left and right swing balance training aid for hemiplegia patients according to claim 5, wherein: the storage battery is arranged on the base, and the storage battery is respectively connected with the control device, the lifting device, the translation device, the expansion device, the rotation device, the opening and closing device and the distance sensor.
7. The left and right swing balance training aid for hemiplegia patients according to claim 5, wherein: the base is provided with the pushing hands on one end of the base, which is opposite to the rotating device, and the length direction of the pushing hands is inclined upwards from the base to the rotating device.
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| CN105030483B (en) * | 2015-08-26 | 2017-08-18 | 安阳工学院 | A kind of hemiplegic patient by upper recovery training appliance for recovery |
| CN109044729B (en) * | 2018-07-26 | 2020-10-02 | 蔡天明 | Medical shoulder joint rehabilitation training robot |
| CN110974633B (en) * | 2019-12-26 | 2025-07-29 | 上海金矢机器人科技有限公司 | Intelligent walking-assisting rehabilitation training robot |
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