Disclosure of Invention
In view of the problems existing in the prior art, an aspect of the present invention is to provide a lower limb nerve rehabilitation evaluation and training apparatus capable of simultaneously implementing a rehabilitation evaluation function and a rehabilitation training function of a lower limb nerve dysfunction rehabilitation user, and giving a mechanical correction measure directly acting on a lower limb to a user's motor state in real time during training.
As one embodiment, the lower limb nerve rehabilitation evaluation and training device comprises a rectangular flat-plate-shaped substrate, two cross bars respectively parallel to the long side of the substrate, each cross bar is connected with the substrate through more than two vertical bars arranged in parallel, the vertical bars are rigidly connected with the cross bars and are rotatably connected with the substrate through vertical bar rotating shafts, so that the vertical bars rotate on the surface perpendicular to the plane of the substrate, the vertical bar rotating shafts are in transmission connection with an input shaft of a rotating torque sensor in the axial direction, the substrate is provided with a plurality of cylindrical rollers distributed in a matrix manner, the rollers are in transmission connection with the substrate through roller rotating shafts in the axial direction, the roller rotating shafts are parallel to the wide side of the substrate and are in transmission connection with a motor shaft of a motor, the rollers are in transmission connection with a pressure sensor, and therefore displacement of the rollers in the direction perpendicular to the substrate is detected, and the rotating torque sensor, the pressure sensor and the motor are respectively and electrically connected with a control device.
As a further improvement, the lower limb nerve rehabilitation evaluation and training device of the present invention further comprises a limiting mechanism limiting the rotation angle of the vertical rod rotation shaft, thereby limiting the rotation angle of the vertical rod, for example, within a range of ±5°, preferably ±3°. The positive and negative values are based on the vertical bar perpendicular to the substrate as 0 °.
In one embodiment, the cross bar is a straight bar.
In another embodiment, the cross bar is an arcuate bar that curves away from the base plate. As a modification, the arcuate tip of the arcuate bar is substantially aligned with a midpoint of the length of the base plate. As a further improvement, the arc height is 5-10 cm. By arc height, it is meant the vertical distance between the tip and the ends of the arc rod in a direction perpendicular to the substrate.
In one embodiment, the cross bar has an anti-skid portion having a pattern with a shape that varies along the length of the cross bar. As an improvement, the pattern can be, for example, a wavy pattern, and the interval between the wavy patterns can be changed, for example, the interval gradually becomes dense or sparse from one end section to the other end of the cross bar; the pattern may also take the shape of circles, diamonds, triangles, polygons, etc. which may likewise be progressively more densely or sparsely spaced, for example, from one end section of the rail to the other. When the cross bar is an arc-shaped bar, the shape of the pattern can gradually become dense or sparse from the two ends of the cross bar to the middle.
In one embodiment, each rolling rotation shaft is in driving connection with a motor. In another embodiment, each row of rollers parallel to the long side of the substrate is in driving connection with a motor, respectively. The transmission connection mode of the roller rotating shaft and the motor shaft is selected from direct connection, belt transmission connection and gear transmission connection.
Another aspect of the present invention is to provide a control method of the aforementioned lower limb nerve rehabilitation evaluation and training device, comprising the steps of:
s01, a rotation torque sensor obtains a signal T1 of the vertical rod rotation and transmits the signal T1 to control equipment;
s02, the pressure sensor obtains a signal T2 of displacement of the roller in the direction vertical to the substrate, and transmits the signal T2 to the control equipment;
s03, the control equipment judges the roller to be driven and the rotation direction of the roller to be driven according to T1 and T2;
and S04, controlling the corresponding motor to work or not to work by the control equipment according to the condition determined in the S03.
In another embodiment, the control method further includes the steps of:
s00, the control device receives the revenue signal: when the input signal is in the evaluation mode, the control electrode does not work; when the input signal is in a training mode, controlling the motor to work;
as a modification, the signals T1 and T2 obtained in S02 and S03 are output, for example, directly to other information processing apparatuses or information storage apparatuses in the form of digital signals or analog signals, or the signals are visualized and then output to a display apparatus. .
The invention has the beneficial effects that:
1. the lower limb nerve rehabilitation evaluation and training device with the evaluation and training functions can reduce the equipment investment of medical institutions and lighten the burden of a learning equipment using method of medical staff.
2. Can provide active and passive feedback, and is convenient for users and medical staff to know the motion state of the users, thereby adjusting the rehabilitation training prescription in time.
3. When a user performs rehabilitation training, the lower limb of the user can be provided with a direct mechanical effect according to the motion state of the user, the posture of the user is corrected, the rehabilitation training effect is improved, and the user is prevented from falling down in the rehabilitation process.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1, the lower limb nerve rehabilitation evaluation and training device of example 1 includes a rectangular flat plate-shaped base plate 1, and two cross bars 2 parallel to the long sides 1a of the base plate, respectively, each cross bar being connected to the base plate 1 by two vertical bars 3 arranged in parallel. Thereby forming a parallel bar-like basic frame with a bottom plate.
One end of the vertical rod 3 is rigidly connected with the cross rod 2, namely, the two parts do not move relatively, so that the force applied by the hand of a user can be transmitted through the cross rod 2 and the vertical rod 3 in sequence. The other end of the vertical rod 3 is rotatably connected to the substrate 1 via a vertical rod rotation shaft 4 so that the vertical rod 3 rotates on a plane perpendicular to the plane of the substrate 1. The vertical rod rotating shaft 4 is in transmission connection with an input shaft 5a of the rotating torque sensor 5 in the axial direction, so that the rotating degree of the vertical rod 3 is converted into an electric signal T1 and is output, and the force application condition of the hand of a user on the cross rod 2 is indirectly monitored.
The substrate 1 has a plurality of cylindrical rollers 6 arranged in a matrix. The roller 6 has an axial direction parallel to the wide side 1b of the base plate 1 and acts to provide a direct force to the user's foot, so that it is preferably sufficiently and uniformly dispersed on the plane of the base plate 1. The roller 6 is rotatably connected to the substrate 1 via a roller rotation shaft 7 in the axial direction, and the roller rotation shaft 7 is parallel to the wide side 1b of the substrate 1 and is in transmission connection with a motor shaft 8a of a motor 8. The manner of disposing the roller rotation shaft 7 and the substrate 1 is not particularly limited, as long as the roller rotation shaft 7 can be freely rotated by the motor 8. As a specific embodiment, as shown in fig. 2, the substrate 1 is provided with a plurality of holes corresponding to the rollers 6, two long ends of the holes are provided with shaft grooves 1c for bearing the roller rotating shafts 7, after the roller rotating shafts 7 penetrate through the rollers 6 and are fixedly connected with the rollers 6, two ends of the roller rotating shafts 7 are respectively placed in the shaft grooves 1c, and conventional designs in the field such as direct placement, bearing sleeving and placement can be adopted.
A pressure sensor 9 is arranged below the roller 6 and is in driving connection with the roller 6, so that the displacement of the roller 6 in the direction perpendicular to the plane of the substrate 1 is detected. As a specific implementation, as shown in fig. 2, one end of the roller rotation shaft 7 is sleeved with a bearing 10. When the user steps on the roller 6, the pressure applied to the roller 6 is transmitted to the pressure sensor 9, so that the pressure borne by the roller 6 is converted into an electric signal T2 and output, and the force application condition of the user foot on the substrate 1/the roller 6 is indirectly monitored.
The aforementioned rotation torque sensor 5, pressure sensor 9 and motor 8 are respectively electrically connected to a control device (not shown in the figure), which receives the electrical signals T1 and T2 sent from the former two, outputs the original result/processing result after processing, and/or controls the motor 8 to drive the roller 6 to rotate.
The following describes the operation principle of the lower limb nerve rehabilitation evaluation and training device of example 1. The user steps on the base plate 1 with his/her foot while holding the cross bar 2, and takes this posture as a preparation posture for rehabilitation evaluation or training. Subsequently, the user walks along the long side 1b of the base plate 1. The user steps on the roller 6 in a certain area and outputs an electric signal to the control device through the corresponding pressure sensor 9, so that the azimuth information of the area where the foot of the user is positioned, the force application information of the force application of the foot and the like, namely an electric signal T2 are obtained; on the other hand, since the legs are weakened, the user needs to balance his/her body by means of the walking beam 2, and when the user leans forward or backward, the degree information of the leaning forward/backward is expressed as the degree of rotation of the vertical rod 3, and the degree information is converted into an electric signal T1 by the rotation torque sensor 5 and input to the control device. The aforementioned electrical signals T1 and T2 are monitored in real time, so as to obtain the distribution of the aforementioned information in the time domain.
The information can be used for evaluating the neural rehabilitation condition of the legs of the user and can also be used for the training process; with regard to the latter, when the control device detects that the degree of patient's forward/backward leaning exceeds a set threshold, the motor 8 covering the pedal area may be controlled to perform reverse rotation, thereby correcting the patient's forward/backward leaning tendency.
Example 2
On the basis of embodiment 1, a limit mechanism 5 is further provided to limit the rotation angle of the vertical rod rotation shaft 4, thereby limiting the rotation angle of the vertical rod 3 to a certain range. The specific form of the stopper mechanism 5 is not particularly limited, and in one specific embodiment, as shown in fig. 3, a stopper protrusion 11 may be provided in the rotation direction of the vertical rod 3. Preferably, the limit projection 11 is detachably fixed to the side surface of the base plate, for example, a plurality of insertion holes 11a are provided along the rotation direction of the vertical rod 3, and the limit pins 11b as the limit projection 11 are inserted into the corresponding insertion holes 11 a. By providing the distribution of the insertion holes 11a, the rotation angle of the vertical rod 3 can be controlled within a range of, for example, ±5°, preferably, ±3° (the distribution of the insertion holes 11a is exaggerated in the figure unlike the actual case, so that the relevant structure is clearly shown). Therefore, when a user leans forward/backward to a large extent, the body balance cannot be recovered by simply relying on the force applied by the roller 6, and the hand of the user holding the cross bar 2 is further enabled to obtain the force for preventing the body from tilting by limiting the rotation direction of the vertical bar 3 by the limiting mechanism 5, and the body balance is recovered by the cooperation of the upper limb and the lower limb, so that the use safety of the device is ensured.
Example 3
Further modifications of the cross bar 2 are made on the basis of examples 1 or 2. In this embodiment, as shown in fig. 4, the cross bar 2 may be a straight bar or an arc bar. In the case of an arc-shaped rod, it is curved in a direction away from the base plate 1, and the arc-shaped tip 2a is substantially aligned with the midpoint 1aM in the longitudinal direction of the base plate. Thus, the user can obviously feel that the hand height changes along with the advancing direction when walking on the base plate 1, and the central nerve is helped to accelerate the recovery of the signal transmission capability of the lower limb nerve by providing the tactile stimulus to the upper limb. The arc height of the cross bar 2 can be adjusted according to practical situations, and is generally 5-10 cm, and the height indicates the distance between the arc top end 2a and the tail end 2b of the cross bar 2.
Further, the rail 2 has an anti-slip portion 12, such as a high friction material area, or an anti-slip pattern. When the antiskid part has the pattern, the shape of the pattern changes along the length direction of the cross rod. Similar to the purpose of the arc-shaped rod, the user can obviously feel that the friction force/pattern detail (pressure) of the hand changes along with the advancing direction when walking on the base plate 1, thereby providing more nerve stimulation types and assisting the nerve rehabilitation of the lower limbs. The patterns can be, for example, wavy patterns, and the intervals between the wavy patterns can be changed, for example, the intervals gradually become dense or sparse from one end section to the other end of the cross rod; alternatively, the pattern may take the shape of a circle, diamond, triangle, polygon, etc. which may likewise be progressively more densely or sparsely spaced, for example, from one end section of the rail to the other. When the cross bar is an arc-shaped bar, the shape of the pattern can gradually become dense or sparse from the two ends of the cross bar to the middle.
Example 4
This example shows the relationship between the roller 6 and the motor 8 in the lower limb nerve rehabilitation evaluation and training device of the present invention.
In one case, a motor 8 may be provided for each roller 6 individually, so that precise control of the individual roller motion states may be achieved.
In another case, considering that each roller 6 is not always required to be precisely controlled in the process of assessing and training the nerve rehabilitation of the lower limb, from the viewpoints of simplifying the equipment structure, being convenient for maintenance, etc., each row of rollers 6 parallel to the long side of the substrate can be respectively connected with a motor in a driving way. As shown in fig. 5, the rollers 6 are arranged in a matrix on the substrate, and a combination of a plurality of rows of rollers 6 is formed when viewed in the direction in which the long side 1a of the substrate extends. The roller rotating shaft 7 of each row of rollers 6 is fixedly provided with a driven wheel 13 at one end, and the specific type of the driven wheel 13 is not particularly limited, and a manner common in the art, such as a belt pulley (as shown in the figure) used for belt transmission connection, a cylindrical gear, a conical wheel used for gear transmission connection, or a rack-driven cylindrical gear, may be adopted. Each column of rollers 6 is independently driven by a motor 8. The motor shaft 8a is fixedly connected with a driven wheel 14 corresponding to the driving wheel, and the driven wheel 14 and the driven wheel 13 are driven in a mutually matched mode. In a preferred embodiment, the driven wheel 13 and the driven wheel 14 may adopt matched spiral bevel gears, so that not only can the effective transmission of power over a long distance be realized, but also a longer service life of the gear can be obtained, equipment maintenance is convenient, more accurate control of the rotation angle, speed and the like can be realized, and particularly, corresponding functions can be realized in extreme states such as quick start, emergency stop and the like, and the gear is protected from stress damage.
Example 5
The working flow of the lower limb nerve rehabilitation evaluation and training device according to any of the previous embodiments is introduced in the implementation.
After the equipment is started, the control equipment receives the income signal and judges the working mode according to the input signal: when the input signal is in the evaluation mode, the control motor 8 is not operated, and only various information of the user is collected for evaluating the user. When the input signal is in a training mode, the motor 8 is controlled to work according to the acquired information, and the rehabilitation training process is assisted.
Subsequently, when the user starts to use the device, the rotation torque sensor 5 obtains a signal T1 of the rotation of the vertical bar 3, the pressure sensor 9 obtains a signal T2 of the displacement of the roller 6 in the direction perpendicular to the substrate 1, and the above-mentioned signals T1 and T2 are transmitted to the control device. Meanwhile, the signals T1 and T2 obtained in S02 and S03 are optionally output, for example, directly output to other information processing apparatuses or information storage apparatuses in the form of digital signals or analog signals, or output to a display apparatus after visualizing the signals.
After receiving the T1 and the T2, the control equipment judges the roller 6 to be driven and the rotation direction of the roller 6 to be driven according to the T1 and the T2, and controls the corresponding motor to work according to the determined condition. For example, when the user is felt to have a tendency to topple forward left, the rear of the left foot-operated roller 6 is controlled to rotate at a certain speed, so that the user is given a force for restoring balance backward to help the user restore balance.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.