CZ304313B6 - Suspension device for transportation and lightening of patients, especially for dynamic alleviation or static suspension of patients with various types of damage of locomotory system - Google Patents

Abstract

The suspension device according to the present invention consists of at least two positionable winding mechanisms (4) each comprising a winding-up drum, guiding pulleys, suspension cables (5) and a drive with synchronous servomotor. The servomotor has permanent magnets on a rotor and windings on a stator with possibility to run alternately in both position and moment mode of operation. It is provided with a control system with switching over the position and moment mode of operation and further with an element of automatic readout of the servomotor axis position connected to an element of the axis position correction in the control mode in response of tens of milliseconds order.

Description

Suspended device for transporting and relieving patients, especially for dynamic relief or static suspension of patients with various types of musculoskeletal disorders

Technical field

The invention relates to a suspension device for transporting and relieving patients, in particular for the dynamic relief or static suspension of patients with various types of musculoskeletal damage during rehabilitation movement on a treadmill, walking treadmill and other rehabilitation devices as well as for transporting patients thereto.

BACKGROUND OF THE INVENTION

In rehabilitation facilities, suspension systems are currently used to lighten the patient, using weights or manual retractors to balance the patient's weight.

From Japanese Patent Publication No. 10179559, for example, a suspension device is known for relieving a patient during rehabilitation walking on a moving walkway, which consists of a suspension frame with a tackle system and a counterweight. However, the amount of lightening of the patient's body weight is stabilized by a constant adjustment of the weight of the counterweight. In this case, however, optimum dynamic relief is not achieved here, since this principle results in a delay in the movement of the counterweight due to friction and gravity itself. The reaction of dynamic lightening is thus delayed, sometimes even contradictory.

The previously known relief - support systems, equipped with one or two hinges, use only the mechanical principle to lighten the patient's body. In addition, in the case of only one hinge, the patient has a traverse above the head, which has the hinge in the middle and two shoulder hangers on the sides. Thus, patients in the frontal plane (coronal plane) can not be hung symmetrically and relieved. patients with paralysis of one side of the body (eg hemiplegia). It is therefore clear that from this perspective they are not applicable to this group of patients.

Existing relief - support systems do not have the possibility of dynamic relief up to 160 kg of patient. In addition, some have stationary, fixed frames, or frames with limited sliding, which must be moved manually by the operator, but considerably complicates the transport of patients with limited mobility to the rehabilitation facility and eliminates the more versatile and efficient use of one suspension device for multiple rehabilitation facilities. for treadmill and walking trainings.

SUMMARY OF THE INVENTION

The principle of a suspension device for transporting and relieving patients, in particular for the dynamic relief or static suspension of patients with various types of damage to the locomotor apparatus in the vertical position by means of a two-point suspension according to the invention, is that the suspension device consists of at least two positionable winding mechanisms. includes winding drum, guide pulleys, suspension ropes and synchronous servomotor drive, fento servomotor has permanent magnets on the rotor and winding on stator with the possibility of running alternately in position and torque mode and also with automatic servo axis reading in the control system in response to tens of milliseconds.

The frame of the suspension device may preferably take the form of a portal rotatable around one of its two webs, the upper ends of the two webs being connected by a horizontal beam. At least two winding mechanisms with suspension ropes and positioning mechanisms are then positionably supported on this horizontal beam.

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Preferably, the positioning mechanisms of the winding mechanisms consist of two lateral displacement mechanisms and at least one correction mechanism. The winding and positioning mechanisms are equipped with individually controlled drives. In a preferred embodiment, the apparatus further comprises a touch screen control system of the winding mechanisms and the positioning mechanisms.

The benefit of the device according to the invention is, above all, the provision of a constant predefined tension at any height of the hinge and with a reaction time of the overload reels and subsequent correction of the power by a correction mechanism in the order of tens of milliseconds. A further benefit of the suspension device for transporting and relieving patients according to the invention is that its frame is designed to be rotatable, which allows easy transport of the patient to the respective rehabilitation device and, if necessary, utilization of the suspension device for two rehabilitation devices (eg treadmill). and walking treadmill).

Overview of the figure in the drawing

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram of a device for dynamic relief and / or static suspension in a vertical position for patients with musculoskeletal disorders in an exemplary embodiment.

DETAILED DESCRIPTION OF THE INVENTION

The suspension device for dynamic relief and static suspension in the vertical position for patients with musculoskeletal damage in the exemplary embodiment (see Fig. 1) is intended for the rehabilitation movement of the patient on the treadmill, walking treadmill, resp. as well as other rehabilitation facilities for the transport of patients to the facility. The patient is hinged in two points to two suspension ropes 5, whereby the servo motors of the winding mechanisms 4 of these suspension ropes 5 are kept in a torque mode at a constant predefined thrust at an adjustable hinge height. This is done by continuously reading - in the exemplary embodiment every 1 millisecond - the position of the servomotor axis and, if a change in the axis position is detected, this position is subsequently corrected in response to 15 ms.

The suspension device for carrying out the method of the exemplary embodiment (see FIG. 1) consists of a frame and a suspension device in the form of a portal rotatable around one of its two legs 2, the upper ends of the two legs 2 being connected by a horizontal beam 3. 2 winding mechanisms 4 with suspension cables 5 for the patient 10 and positioning mechanisms 6 and 9 of these winding mechanisms 4 are supported.

The drive of each of the winding mechanisms 4 comprises a synchronous servomotor having permanent magnets on the rotor and winding on the stator, equipped with a control system with switching of position and torque mode - position mode serves for raising and lowering patient 10, torque mode for dynamic relief of patient 10 In the torque control mode, a constant force - thrust - is maintained on the motor axis and thus on the winding suspension ropes 5, thereby relieving the suspended object, in this case the patient 10. For this purpose, the actuators of the winding mechanism drives 4 are further equipped with automatic reading elements. axis position of the actuator connected to the axis position correction element. If the position of the actuator axis is changed by the suspension rope 5 and the winding mechanism 4, the axis position correction element evaluates this and transmits the actuator command to return the axis to its original position.

The positioning mechanisms 6 and 9 of the winding mechanisms 4 consist of a set of two lateral displacement positioning mechanisms 6 and one correction positioning mechanism 9. The suspension device drives are independently operable in all directions.

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The hitching device further comprises a touch screen 8 of the drive system of the winding mechanisms 4 and the positioning mechanisms 6.

Claims (5)

PATANT CLAIMS A suspension device for transporting and relieving patients, in particular for the dynamic relief or static suspension of patients with various types of damage to the locomotor apparatus in a vertical position by means of a two-point linkage, characterized in that it comprises at least two winding mechanisms (4) each comprising winding drum, guide pulleys, suspension ropes (5) and a permanent magnet synchronous servomotor drive on the rotor and a stator winding, the servomotor is equipped with a control system with position and torque mode switching and an automatic servo axis reading an axis correction element in the control system in response to tens of milliseconds. Suspension device according to claim 1, characterized in that at least two winding mechanisms (4) with suspension ropes (5) and positioning mechanisms (6, 9) of the winding mechanisms (4) are positionably supported on a horizontal beam (3) of the frame (3). 1) a suspension device having the form of a portal rotatable around one of its two webs (2), the upper ends of the two webs (2) being connected by a horizontal beam (3). Suspension device according to claim 2, characterized in that the positioning mechanisms (6, 9) of the winding mechanisms (4) consist of two lateral displacement mechanisms (6) and at least one correction mechanism (9). Suspension device according to claim 1, characterized in that the winding mechanisms (4) and the positioning mechanisms (6, 9) of these winding mechanisms (4) are provided with individually actuable drives. The suspension device of claim 4, further comprising a touch screen (8) of the drive control system of the winding mechanisms (4) and the positioning mechanisms (6, 9).