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CN109363887B - 一种交互式上肢康复训练系统 - Google Patents

一种交互式上肢康复训练系统 Download PDF

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CN109363887B
CN109363887B CN201811354114.0A CN201811354114A CN109363887B CN 109363887 B CN109363887 B CN 109363887B CN 201811354114 A CN201811354114 A CN 201811354114A CN 109363887 B CN109363887 B CN 109363887B
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rehabilitation
height adjusting
double
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CN109363887A (zh
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谢龙汉
蔡思祺
黄双远
李国峰
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Lizhi Medical Technology Guangzhou Co ltd
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South China University of Technology SCUT
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Abstract

本发明公开了一种交互式上肢康复训练系统，包括互动显示屏、上位机控制中心、双臂康复机器人、移动式空间可调节双臂机器人底座、位置跟踪器，所述双臂康复机器人安装于移动式空间可调节双臂机器人底座上，并通过两末端执行器带动患者手臂进行运动；所述移动式空间可调节双臂机器人底座用于调整双臂康复机器人的操作空间；所述位置跟踪器用于实时采集患者的手臂位置姿态信息并传入上位机控制中心及互动显示屏；所述互动显示屏用于通过手臂位置姿态信息同步操作游戏；所述上位机控制中心用于存储患者信息、对患者的康复过程进行评估后给出量化指标。本发明提供的交互式上肢康复训练系统实现了上肢康复训练过程的安全化、科学化、趣味化和数据化。

Description

一种交互式上肢康复训练系统
技术领域
本发明涉及上肢康复领域领域，具体涉及一种交互式上肢康复训练系统。
背景技术
随着生活水平的提高，老龄化人口的比例不断提高。脑卒中是老年人的高发病症，脑卒中引起偏瘫将极大的影响患者的日常生活。通过上肢康复机器人的系统科学的训练，偏瘫患者的患者的肢体活动范围、肌肉力量、灵活性等都能有所恢复，提高日常生活能力。在康复过程中，目前根据康复师的经验进行，即使对于同一个患者进行同一个动作的训练也存在差别。对于患者的评估根据康复师的经验或者量表，存在较大误差。患者在康复过程中，往往过程较为枯噪，并且患病后的情绪较为低落，可能存在康复积极性差不配合等情况，影响到康复效果。
发明内容
为解决上述技术问题，本发明公开了一种交互式上肢康复训练系统，运用于上肢康复训练过程的锻炼，实现上肢康复训练过程的安全化、科学化、趣味化和数据化。
为实现上述目的，本发明的技术方案如下：
一种交互式上肢康复训练系统，包括互动显示屏、上位机控制中心、双臂康复机器人、移动式空间可调节双臂机器人底座、位置跟踪器，
所述的双臂康复机器人安装于所述移动式空间可调节双臂机器人底座上，并通过两末端执行器带动患者手臂进行运动；
所述移动式空间可调节双臂机器人底座通过调节所述双臂康复机器人在高度方向和水平方向上与患者的相对位置调整双臂康复机器人的操作空间；
所述位置跟踪器安装于患者手臂上，用于实时采集患者的手臂位置姿态信息，并将所采集的手臂位置姿态信息传入上位机控制中心及互动显示屏；
所述互动显示屏安装于患者的正前方，用于通过所述位置跟踪器获得的所述手臂位置姿态信息同步操作互动显示屏的游戏；
所述上位机控制中心用于存储患者信息、根据所述手臂位置姿态信息对患者的康复过程进行评估后给出量化指标。
进一步地，所述的位置跟踪器包括上臂位置跟踪器、前臂位置跟踪器，所述的上臂位置跟踪器、前臂位置跟踪器分别安装于患者的上臂和前臂上，用于实时采集患者上臂和前臂的位置姿态信息，并将所采集的位置姿态信息传入上位机控制中心及互动显示屏。
进一步地，所述的双臂康复机器人的两末端执行器分别用于带动患者的上臂和前臂进行被动康复、主动康复及主被动康复。
进一步地，所述的移动式空间可调节双臂机器人底座包括由上至下依次连接的水平调节板、高度杆、矩形铝型材底架，所述水平调节板上固定设置有两个水平位置可调的机械臂安装组件，所述铝型材底架底部设置有福马轮和蹄脚，所述的机械臂安装组件包括由上至下依次连接的纵向高度调节组件和高度调节件安装板，所述纵向高度调节组件顶端设置有水平机械臂安装件。
进一步地，所述的纵向高度调节组件包括连接水平机械臂安装件的T形纵向高度调节件、通过螺栓固定在所述高度调节件安装板上的纵向高度调节件，所述的T形纵向高度调节件上沿高度方向均匀设置于若干通过螺栓连接所述纵向高度调节件的螺纹孔。
进一步地，所述的纵向高度调节件包括对称设置的L形右侧纵向高度调节件、左侧纵向高度调节件，所述T形纵向高度调节件通过螺栓夹固在右侧纵向高度调节件、L形左侧纵向高度调节件之间。
进一步地，所述的铝型材底架两侧还通过活动铰链连接有铝型材制备的扭矩支撑杆，所述扭矩支撑杆的自由端设置有蹄脚。
进一步地，所述水平调节板上沿长度方向设置有若干用于连接高度调节件安装板的螺纹孔。
进一步地，所述的高度杆包括杆体，所述杆体的上、下端通过连接板分别与所述水平调节板和铝型材底架固定连接，或者，所述杆体的上端或下端通过连接板分别与所述水平调节板或铝型材底架转动连接且设置有锁紧装置。
进一步地，所述的患者信息包括患者的年龄、性别、病情、肌力等级、治疗时间、康复变化、肩关节活动范围、肘关节活动范围、手腕活动范围，所述的患者的康复过程进行评估后给出量化指标具体指根据所存储的所述患者信息按照FM量表对患者上肢活动范围、肌力等级、上肢协调性给出量化指标。
与现有技术比较，本发明具有如下优点和技术效果：
本发明通过设置包括互动显示屏、上位机控制中心、双臂康复机器人、位置跟踪器的交互式上肢康复训练系统，实现了上肢康复训练过程的安全化、科学化、趣味化和数据化；同时，使得机械臂的操作空间更加多样化、移动更加便捷、支撑更加稳固、占地空间更加节约。
附图说明
图1为一种交互式上肢康复训练的系统示意图。
图1中包括：1：双臂康复机器人、2：水平机械臂安装件、3：T形纵向高度调节件、4：纵向高度调节件、5：高度调节件安装板、6：水平调节板、7：高度杆、8：铝型材底架、9：福马轮、10：端面盖板、11：扭矩支撑杆、12：蹄脚、13：上臂位置跟踪器、14：末端执行器、15：前臂位置跟踪器、16：互动显示屏、17：上位机控制中心。
具体实施方式
下面将结合具体实施例和附图对本发明作进一步说明，但不限于此。
如图1所示，一种交互式上肢康复训练系统，包括互动显示屏16、上位机控制中心17、双臂康复机器人1、移动式空间可调节双臂机器人底座、位置跟踪器，
所述的双臂康复机器人1安装于所述移动式空间可调节双臂机器人底座上，所述的双臂康复机器人1的两末端执行器14分别用于带动患者的上臂和前臂进行被动康复、主动康复及主被动康复，实现康复过程的科学化。
所述位置跟踪器包括上臂位置跟踪器13、前臂位置跟踪器15，所述的上臂位置跟踪器13、前臂位置跟踪器15分别安装于患者的上臂和前臂上，用于实时采集患者上臂和前臂的位置姿态信息，并将所采集的位置姿态信息传入上位机控制中心17及互动显示屏16，实现实时监控和安全保护作用，实现康复过程的安全化。
所述互动显示屏16安装于患者的正前方，用于通过位置跟踪器获得的位置姿态信息同步操作互动显示屏的游戏，实现系统与患者的互动，实现康复过程的趣味化。
所述的上位机控制中心17为电脑，用于存储患者的年龄、性别、病情、肌力等级、治疗时间、康复变化、肩关节活动范围、肘关节活动范围、手腕活动范围等信息，根据所存储的信息按照FM量表对患者上肢活动范围、肌力等级、上肢协调性给出量化指标，实现康复过程的数据化。
所述的移动式空间可调节双臂机器人底座包括由上至下依次连接的水平调节板6、高度杆7、矩形铝型材底架8，所述水平调节板6上固定设置有两个水平位置可调的机械臂安装组件，所述铝型材底架8底部设置有福马轮9和蹄脚12，所述的机械臂安装组件包括由上至下依次连接的纵向高度调节组件和高度调节件安装板5，所述纵向高度调节组件顶端设置有水平机械臂安装件2。福马轮9和蹄脚12的支撑，使得底座装置可适应于不同的地面情况，保证底座的水平。
所述的纵向高度调节组件包括连接水平机械臂安装件2的T形纵向高度调节件3、通过螺栓固定在所述水平调节板6上的纵向高度调节件，所述的T形纵向高度调节件3上沿高度方向均匀设置于若干通过螺栓连接所述纵向高度调节件的螺纹孔。所述的纵向高度调节件4包括对称设置的两L形纵向高度调节件，所述T形纵向高度调节件3通过螺栓夹固于两个L形纵向高度调节件之间，并通过螺纹孔的选择可相对于所述纵向高度调节件4在高度方向进行调节，实现双臂机器人操作空间在竖直高度方向的变化。
所述的铝型材底架8两侧还通过活动铰链连接有扭矩支撑杆11，所述扭矩支撑杆11的自由端设置有蹄脚12。所述扭矩支撑杆可防止底座及机械臂倾倒，在绕铰链旋转后可节省空间。
所述扭矩支撑杆11采用铝型材，所述的铝型材底架8主要由若干铝型材、角件和螺栓连接而成。所述铝型材的断面上设置有断面盖板10。
所述的水平调节板6主要由若干相互平行设置的铝型材组成。所述水平调节板6上沿水平方向设置有若干用于连接高度调节件安装板5的螺纹孔，通过螺纹孔的选择可调节高度调节件安装板5与水平调节板6在水平方向的相对位置，实现双臂机器人操作空间在水平方向的变化。
所述的高度杆7包括杆体，所述杆体的上、下端通过连接板分别与所述水平调节板6和铝型材底架8固定连接。
在一个可行的实施例中，所述杆体的上端或下端与连接板转动连接且设置有锁紧装置，从而在需要时，可转动水平调节板6并锁定在所需的位置。
上述实施例提供的交互式上肢康复训练系统中，所述双臂康复机器人1安装于移动式空间可调节双臂机器人底座上，通过双臂机器人带动患者的上臂进行运动，实现患者患者的被动康复、主被动康复及主动康复，整个系统实现上肢康复训练过程的安全化、科学化、趣味化和数据化，同时，机械臂的操作空间更加多样化、移动更加便捷、支撑更加稳固、占地空间更加节约。
根据上述说明书的揭示和教导，本发明所属领域的技术人员还可以对上述实施方式进行变更和修改。因此，本发明并不局限于上面揭示和描述的具体实施方式，对本发明的一些修改和变更也应当落入本发明的权利要求的保护范围内。

Claims (4)

1.一种交互式上肢康复训练系统，其特征在于，包括互动显示屏（16）、上位机控制中心（17）、双臂康复机器人（1）、移动式空间可调节双臂机器人底座、位置跟踪器，
所述的双臂康复机器人（1）安装于所述移动式空间可调节双臂机器人底座上，并通过两末端执行器（14）带动患者手臂进行运动；
所述移动式空间可调节双臂机器人底座通过调节所述双臂康复机器人（1）在高度方向和水平方向上与患者的相对位置调整双臂康复机器人（1）的操作空间；
所述位置跟踪器安装于患者手臂上，用于实时采集患者的手臂位置姿态信息，并将所采集的手臂位置姿态信息传入上位机控制中心（17）及互动显示屏（16）；
所述互动显示屏（16）安装于患者的正前方，用于通过所述位置跟踪器获得的所述手臂位置姿态信息同步操作互动显示屏（16）的游戏；
所述上位机控制中心（17）用于存储患者信息、根据所述手臂位置姿态信息对患者的康复过程进行评估后给出量化指标；
所述的移动式空间可调节双臂机器人底座包括由上至下依次连接的水平调节板（6）、高度杆（7）、矩形铝型材底架（8），所述水平调节板（6）上固定设置有两个水平位置可调的机械臂安装组件，所述铝型材底架（8）底部设置有福马轮（9）和蹄脚（12），所述的机械臂安装组件包括由上至下依次连接的纵向高度调节组件和高度调节件安装板（5），所述纵向高度调节组件顶端设置有水平机械臂安装件（2）；所述的纵向高度调节组件包括连接水平机械臂安装件（2）的T形纵向高度调节件（3）、通过螺栓固定在所述高度调节件安装板（5）上的纵向高度调节件（4），所述的T形纵向高度调节件（3）上沿高度方向均匀设置于若干通过螺栓连接所述纵向高度调节件的螺纹孔；所述的纵向高度调节件（4）包括对称设置的L形右侧纵向高度调节件、L形左侧纵向高度调节件，所述T形纵向高度调节件（3）通过螺栓夹固在右侧纵向高度调节件、左侧纵向高度调节件之间；所述的铝型材底架（8）两侧还通过活动铰链连接有铝型材制备的扭矩支撑杆（11），所述扭矩支撑杆（11）的自由端设置有蹄脚（12）；所述水平调节板（6）上沿长度方向设置有若干用于连接高度调节件安装板（5）的螺纹孔；所述的高度杆（7）包括杆体，所述杆体的上、下端通过连接板分别与所述水平调节板（6）和铝型材底架（8）固定连接，或者，所述杆体的上端或下端通过连接板分别与所述水平调节板（6）或铝型材底架（8）转动连接且设置有锁紧装置。
2.根据权利要求1所述的交互式上肢康复训练系统，其特征在于，所述的位置跟踪器包括上臂位置跟踪器（13）、前臂位置跟踪器（15），所述的上臂位置跟踪器（13）、前臂位置跟踪器（15）分别安装于患者的上臂和前臂上，用于实时采集患者上臂和前臂的位置姿态信息，并将所采集的位置姿态信息传入上位机控制中心（17）及互动显示屏（16）。
3.根据权利要求1所述的交互式上肢康复训练系统，其特征在于，所述的双臂康复机器人（1）的两末端执行器（14）分别用于带动患者的上臂和前臂进行被动康复、主动康复及主被动康复。
4.根据权利要求1所述的交互式上肢康复训练系统，其特征在于，所述的患者信息包括患者的年龄、性别、病情、肌力等级、治疗时间、康复变化、肩关节活动范围、肘关节活动范围、手腕活动范围，所述的患者的康复过程进行评估后给出量化指标具体指根据所存储的所述患者信息按照FM量表对患者上肢活动范围、肌力等级、上肢协调性给出量化指标。
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