CN110038290B - Muscle strength rehabilitation assisting device - Google Patents
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- CN110038290B CN110038290B CN201910424603.7A CN201910424603A CN110038290B CN 110038290 B CN110038290 B CN 110038290B CN 201910424603 A CN201910424603 A CN 201910424603A CN 110038290 B CN110038290 B CN 110038290B
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Abstract
The invention relates to a muscle strength rehabilitation assisting device, belongs to the technical field of medical treatment, and solves the problem that the prior art cannot effectively combine the body state of a patient and the historical training condition to automatically train limbs to be rehabilitated. The device comprises muscle strength information acquisition equipment, an analysis processor and an auxiliary action executing mechanism which are sequentially connected; the muscle strength information acquisition equipment is used for acquiring information data related to the muscle strength recovery degree of the testee in the rehabilitation training process and sending the information data to the analysis processor; the analysis processor is used for analyzing and judging whether the current muscle strength activity of the limb meets the preset requirement according to the information data and sending a control signal to the auxiliary action executing mechanism according to the analysis and judgment result; and the auxiliary action executing mechanism is used for inhibiting or pushing the current limb muscle strength activity of the subject according to the control signal. The training scheme of the muscle strength rehabilitation auxiliary device can be iterated intelligently, does not need to depend on the experience of a doctor, and avoids artificial misjudgment.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a muscle strength rehabilitation assisting device.
Background
In modern society, hemiplegia patients are more and more, which arouses great attention in the medical field. Hemiplegia refers to the movement disorder of the upper and lower limbs, facial muscles and tongue muscles on one side, and is a common symptom of acute cerebrovascular disease. Hemiplegia can be classified into paresis, incomplete paralysis and total paralysis according to the degree of the disease. The paresis is characterized in that the muscle strength is weakened, is in 4-5 grades, and generally does not affect daily life; incomplete paralysis is more serious than paresis, and the muscle strength is 2-4 grade; the whole paralysis is characterized in that the paralyzed limbs can not move at all, and the muscle strength is 0-1 grade.
The rehabilitation training for hemiplegia comprises 4 targets, respectively: 1) the joint mobility is maintained, and joint contracture is prevented; 2) inhibit or mitigate the occurrence or exacerbation of abnormal movement patterns; 3) inducing active movement of the limb; 4) and strengthening and detecting muscle strength. In the rehabilitation training process, the inhibition or the alleviation of the occurrence of abnormal motion patterns and the induction of the active motion of limbs are the key points for better recovery of the motion function of treating the hemiplegia.
At present, rehabilitation training of muscle strength mostly depends on the whole-course guidance of therapists, and the quality level of the rehabilitation training depends on the abilities and the efficacy of the therapists. The therapist needs to track the treatment condition of the patient at any time according to the experience of the therapist, assist the patient to train, and prevent the patient from generating secondary damage during the rehabilitation training. For example, secondary injury occurs to a patient's muscles as a result of excessive exertion while performing active exercise. With the development of science and technology, some muscle strength recovery devices are also available on the market.
The existing muscle strength recovery device still depends on the ability and the efficacy of a therapist to a certain extent when the training scheme is formulated, complete intellectualization cannot be achieved, and the training scheme is formulated or iterated under the guidance of the therapist after the body state information of a user is collected and uploaded to a high cloud end. The muscle strength of the patient cannot be effectively improved to the maximum extent in the training process, and the action posture of the patient cannot be protected in advance. The current design scheme sets an upper training limit as long as the patient does not exceed the upper training limit, but if the training of the patient progresses slowly, even if the upper training limit is not exceeded, secondary damage is often caused by the excessive muscle strength.
Disclosure of Invention
In view of the above analysis, the embodiments of the present invention are directed to providing a muscle strength rehabilitation assisting device, so as to solve the problem that the prior art cannot effectively combine the physical state of the patient and the historical training situation to automatically train the limb to be rehabilitated.
On one hand, the embodiment of the invention provides a muscle strength rehabilitation auxiliary device, which comprises muscle strength information acquisition equipment, an analysis processor and an auxiliary action executing mechanism which are sequentially connected; wherein,
the muscle strength information acquisition equipment is used for acquiring information data related to the muscle strength recovery degree of the testee in the rehabilitation training process and sending the information data to the analysis processor;
the analysis processor is used for analyzing and judging whether the current muscle strength activity of the limb meets the preset requirement according to the information data and sending a control signal to the auxiliary action executing mechanism according to the analysis and judgment result;
and the auxiliary action executing mechanism is used for inhibiting or pushing the current limb muscle strength activity of the subject according to the control signal.
The beneficial effects of the above technical scheme are as follows: after the muscle strength rehabilitation assisting device obtains information data related to the muscle strength recovery degree of a subject in the training process of a patient through the muscle strength information acquisition equipment, the analysis processor can evaluate the current physiological state information of the patient, and further obtain whether the muscle strength of the same part is enhanced or not or whether the muscle strength is excessive or not in the current training process to possibly cause secondary injury or not compared with the previous training, and the current limb muscle strength activity of the subject is inhibited or pushed according to an analysis conclusion.
Based on the further improvement of the method, the data related to the muscle strength recovery degree of the subject in the training process comprises the following steps: the strength of each muscle at the limb to be recovered, the displacement and the speed of each joint at the limb to be recovered and the cardiopulmonary status of the testee.
The beneficial effects of the above further improved scheme are: whether the current muscle strength activity meets the requirements of rehabilitation training or not can be judged according to the strength of each muscle at the limb to be rehabilitated. Through the displacement and the speed of each joint at the limb to be recovered, whether the displacement of each joint meets the requirements of the recovery training or not and the recovery effect of the joint can be judged. The difficulty of the examinee in finishing training can be judged through the cardio-pulmonary state of the examinee, and further the muscle strength amplitude and direction, the training frequency and the training time in the rehabilitation training are adjusted.
Further, the muscle strength information collecting apparatus includes:
the pressure sensor is arranged on the surface of the skin of each muscle of the limb to be rehabilitated and used for detecting the strength of the muscle at the arrangement position;
the displacement sensor is arranged at the position of each joint of the limb to be rehabilitated and is used for detecting the movement amplitude of each joint;
the acceleration sensor is arranged at the position of each joint of the limb to be rehabilitated and is used for detecting the speed of each action of each joint;
and the respiration detection sensor is arranged at the nasal cavity of the testee and is used for detecting the respiration frequency of the testee.
The beneficial effects of the above further improved scheme are: the purpose of arranging the pressure sensor is to judge whether the rehabilitation training requirement is met or not by comparing the force application magnitude of each muscle part with a threshold value. The purpose of arranging the displacement sensors is to judge whether the displacement of each joint meets the requirement of rehabilitation training or not by comparing the moving amplitude of each joint with a threshold value. The purpose of arranging the acceleration sensor is to determine the joint restoration effect by comparing the velocity of each movement of each joint with a threshold value. The purpose of arranging the respiration detection sensor is to obtain the cardiopulmonary state of a subject through the respiratory frequency of the subject, judge the difficulty level of the patient in the current training process and further adjust the training scheme.
Furthermore, the muscle strength rehabilitation auxiliary device also comprises a signal conditioning circuit;
the signal conditioning circuit is arranged between the muscle strength information acquisition equipment and the analysis processor and is used for conditioning the signal of the information data related to the muscle strength recovery degree of the testee in the rehabilitation training process.
The beneficial effects of the above further improved scheme are: after the analog signals obtained by the muscle strength information acquisition equipment are subjected to signal conditioning, information data directly related to the muscle strength recovery degree of the subject can be obtained, the reason is that the analog signals cannot effectively reflect the specific numerical value of the muscle strength recovery degree of the subject, signal conversion is generally needed to obtain digital signals, the digital signals are analyzed to reflect the specific numerical value of the muscle strength recovery degree of the subject, the analog signals directly obtained by the muscle strength information acquisition equipment are weak and cannot meet the minimum requirement of signal conversion, and in the signal transmission process, signal distortion is inevitably caused due to interference brought by environmental factors.
Further, the signal conditioning circuit comprises an amplifier, a compensation circuit, a filter and an A/D converter which are connected in sequence; wherein,
the amplifier is used for amplifying the analog signals collected by the muscle strength information collecting equipment and transmitting the amplified signals to the compensating circuit;
the compensation circuit is used for performing loss compensation on the amplified signal and transmitting the compensated signal to a filter;
the filter is used for carrying out stray suppression on the compensated signal and transmitting the filtered signal to the A/D converter;
and the A/D converter is used for converting the filtered signal into a digital signal and transmitting the digital signal to the analysis processor.
The beneficial effects of the above further improved scheme are: the weak signals collected by the muscle strength information collection equipment can be amplified through the amplifier, and the loss in the signal transmission process is compensated through the compensation circuit, so that the distortion condition is prevented; spurious suppression is carried out through a filter, and misjudgment of an analysis processor is prevented; and converting the filtered signal into a digital signal through an A/D converter, and transmitting the digital signal to an analysis processor for further processing.
Further, the analysis processor comprises a preliminary judgment module, a motion mode selection module and a muscle strength activity monitoring module which are sequentially connected; wherein,
the preliminary judgment module is used for carrying out preliminary analysis on the information data acquired by the muscle strength information acquisition equipment, obtaining the cardiopulmonary state of the testee, the range of the amplitude and the range of the direction of the movable muscle strength, and sending the cardiopulmonary state of the testee, the range of the amplitude and the range of the direction of the movable muscle strength to the motion mode selection module;
the exercise mode selection module is used for selecting active training or passive training according to the cardiopulmonary state of the subject and the range of the movable muscle strength amplitude and the range of the movable muscle strength direction, when the cardiopulmonary state of the subject is good and the range of the movable muscle strength amplitude and the range of the movable muscle strength direction are within the preset range, the active training is selected, otherwise, the passive training is selected, and the mode selection result is sent to the muscle strength activity monitoring module;
the muscle strength activity monitoring module is used for controlling the auxiliary action executing mechanism to execute rehabilitation training according to the mode selection result, monitoring the cardiopulmonary state and the activity amplitude of the testee in real time through information data acquired by the muscle strength information acquisition equipment, and adjusting the muscle strength activity direction and amplitude in the rehabilitation training in time.
The beneficial effects of the above further improved scheme are: the current cardiopulmonary state and the amplitude and the direction of the movable muscle force of the subject can be obtained through a preliminary judgment module; through the motion mode selection module, the current suitable motion mode of the patient can be automatically selected according to the result of the preliminary judgment module; through muscle strength activity monitoring module, can real time monitoring examinee cardiopulmonary state and activity range, in time adjust muscle strength activity direction and range in the rehabilitation training. According to the technical scheme, manual intervention is not needed, and the motion scheme can be automatically adjusted according to the requirements of the user in real time.
Furthermore, the analysis processor also comprises a storage module and a power supply conversion module; the storage module is respectively connected with the muscle strength information acquisition equipment and the data end of the muscle strength activity monitoring module, and the power supply conversion module is connected with the preliminary judgment module, the motion mode selection module and the muscle strength activity monitoring module;
the storage module is used for storing historical information data acquired by the muscle strength information acquisition equipment and cardiopulmonary state and activity amplitude data of the subject acquired by the corresponding muscle strength activity monitoring module;
and the power supply conversion module is used for supplying power to the preliminary judgment module, the movement mode selection module and the muscle strength activity monitoring module.
The beneficial effects of the above further improved scheme are: by the storage module, the analysis efficiency of the analysis processor can be improved. Specifically, the analysis processor can directly read the local storage data, does not need remote assistance, performs operation and processing, and compares with transmitting the data to the cloud for processing, and then transmits back the analysis processor, and finally executes, so that the efficiency is obviously higher, and meanwhile, the limitation of the communication environment can be avoided. The power conversion module can provide independent power supply for the preliminary judgment module, the movement mode selection module and the muscle strength activity monitoring module, when the power of one module goes wrong, the operation and related functions of other modules cannot be influenced, and the problem that all module functions cannot be performed due to the fact that the power of one module goes wrong is prevented.
Further, the analysis processor further comprises a parameter training module; the input end of the parameter training module is connected with the output end of the storage module, the output end of the parameter training module is connected with the input end of the muscle strength activity monitoring module,
the parameter training module is used for obtaining a compensation value of the muscle strength amplitude and direction, the training frequency and the training time of the current training according to the muscle strength amplitude and direction, the training frequency and the training time data of the testee in the historical rehabilitation training process, superposing the compensation value with the muscle strength amplitude and direction, the training frequency and the training time data of the testee in the previous rehabilitation training process to further obtain the muscle strength amplitude and direction, the training frequency and the training time reference of the current training, sending the reference to the muscle strength activity monitoring module, and judging whether the muscle strength amplitude and direction, the training frequency and the training time of the current training of the testee accord with the reference or not by the muscle strength activity monitoring module.
The beneficial effects of the above further improved scheme are: the parameter training module has the advantages that the most suitable training scheme can be automatically made according to muscle strength activity requirements of different subjects, so that the training scheme of each time is different from person to person and from time to time. The current training scheme evaluates the recovery effect of the patient based on the results of the previous training. Therefore, the situation that the same scheme is uniformly used by corresponding people of the same type does not occur, the situation that the training scheme is made every time based on the statistical result of the training effect of people of the same type does not occur, and the method is specific to personal training data. The technical scheme enables the training (activity amplitude and direction) of the subject to be accurately controlled, and ensures that the subject always carries out correct posture recovery. For example, if the wrist of the subject is not strong enough, the wrist is involuntarily exercised by the arm muscles to achieve the amplitude requirement, but the wrist is in the wrong posture and the exercise is not effective even if the wrist is trained hundreds of times. The technical scheme can overcome the defects.
Further, the auxiliary action executing mechanism comprises a motor, a fixing device and a rotating device;
the motor is used for driving the rotating device to drive the muscle part of the testee to rotate according to the control signal output by the muscle strength activity monitoring module;
the fixing device is used for fixing the muscle part which does not need to rotate in the rehabilitation training of the testee;
the rotating device is used for driving the muscle part needing to rotate in the rehabilitation training of the testee to rotate.
The beneficial effects of the above further improved scheme are: the posture deformation of the subject in the rehabilitation training process can be avoided, so that the training effect is not influenced. For example, when a subject enters a bottleneck period of training, the subject unconsciously borrows force from other parts of the body, but the training affects the rehabilitation effect, and the fixing device can prevent the situation from happening.
Further, at least one of the fixing device and the rotating device is arranged;
the fixing device comprises a binding band, a binding sheet and an inflatable air bag from outside to inside in sequence; the binding band is used for fixing the inflatable air bag at a muscle part which does not need to be rotated in the rehabilitation training of the subject through the binding sheet;
the rotating device comprises a gear, an operating rod and a protective cover; the gear is arranged in the protective cover and drives the protective cover to rotate through the motor; the operating rod is arranged outside the protective cover, is connected with the protective cover and is arranged at a muscle part needing to rotate in the rehabilitation training of a testee.
The beneficial effects of the above further improved scheme are: the fixing device and the rotating device are further limited, different numbers of fixing devices and rotating devices can be arranged on the human body according to the rehabilitation requirements of different testees, and training of different training schemes can be performed, wherein the training scheme is different from time to time and from person to person.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a schematic connection diagram of a muscle strength rehabilitation assisting device according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram of a signal conditioning circuit according to embodiment 2 of the present invention;
FIG. 3 is a schematic diagram of an analysis processor according to embodiment 2 of the present invention;
FIG. 4 is a schematic structural diagram of an auxiliary operation actuator according to embodiment 2 of the present invention;
fig. 5 is a schematic view of the hand muscle strength recovery device according to an embodiment 2 of the present invention;
fig. 6 is a schematic view of an operation lever of an auxiliary operation executing mechanism according to embodiment 2 of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Example 1
The invention discloses a muscle strength rehabilitation assisting device, which comprises muscle strength information acquisition equipment, an analysis processor and an auxiliary action executing mechanism which are sequentially connected as shown in figure 1.
And the muscle strength information acquisition equipment is used for acquiring data related to the muscle strength recovery degree of the testee in the rehabilitation training process and sending the data to the analysis processor.
And the analysis processor is used for analyzing and judging whether the current limb muscle strength activity meets the preset requirement according to the data and sending a control signal to the auxiliary action executing mechanism. The preset requirements are whether the muscle strength amplitude and direction, the training frequency and the training time of the subject in the current training meet the reference of the current training.
And the auxiliary action executing mechanism is used for inhibiting or pushing the current limb muscle strength activity according to the control signal.
When the muscle strength rehabilitation assisting device is implemented, rehabilitation training of the muscle strength rehabilitation assisting device comprises a passive mode and an active mode. Under the passive mode, the muscle rehabilitation assisting device exerts force to move the damaged muscle part, maintains the joint mobility, prevents joint contracture and helps the recovery of the muscle force of the limb to be rehabilitated. Under the active mode, the patient exerts force by himself to move the damaged muscle force part, and the muscle force rehabilitation auxiliary device plays an auxiliary pushing or inhibiting role to help the recovery of the muscle force of the limb to be recovered.
Compared with the prior art, after the muscle strength rehabilitation auxiliary device provided by the invention obtains the information data related to the muscle strength recovery degree of the subject in the training process of the patient through the muscle strength information acquisition equipment, the analysis processor can evaluate the current physiological state information of the patient, further obtain whether the muscle strength of the same part is enhanced or not or whether the muscle strength is excessive in the current training process to possibly cause secondary injury compared with the previous training in the current training process, and inhibit or promote the current limb muscle strength activity of the subject according to the analysis conclusion.
Example 2
The optimization is carried out on the basis of the embodiment 1, and the information data which is acquired by the muscle strength information acquisition equipment and is related to the muscle strength recovery degree of the subject in the training process comprises the following steps: the strength of each muscle at the limb to be recovered, the displacement and the speed of each joint at the limb to be recovered, the cardiopulmonary state of the testee, the current training time and the trained time.
Preferably, the muscle strength information collecting apparatus includes: pressure sensor, displacement sensor, acceleration sensor, respiration detection sensor. The patient (testee) can wear the corresponding muscle strength information acquisition equipment and the auxiliary action executing mechanism according to the requirement of the muscle strength training of the patient, such as a hand muscle strength rehabilitation auxiliary device, a foot muscle strength rehabilitation auxiliary device and the like.
The pressure sensor is arranged on the surface of the skin of each muscle of the limb to be rehabilitated and used for detecting whether the muscle at the laying position exerts force or not and collecting the data of the strength of the exerted force. The purpose of arranging the pressure sensor is to judge whether the strength of the current muscle strength activity meets the requirement of rehabilitation training or not by comparing the strength of each muscle with a threshold value.
And the displacement sensor is arranged at each joint position of the limb to be recovered and used for detecting whether the joint at the laying position moves or not and acquiring the moving amplitude. The purpose of arranging the displacement sensors is to judge whether the displacement of each joint in the current muscle force activity meets the requirement of rehabilitation training or not by comparing the moving amplitude of each joint with a threshold value.
And the acceleration sensor is arranged at each joint position of the limb to be recovered and is used for acquiring the speed of each joint at the arrangement position during each action. The purpose of arranging the acceleration sensor is to judge the recovery effect of each joint in the current muscle force activity by comparing the speed of each action of each joint with a threshold value.
And the respiration detection sensor is arranged at the nasal cavity of the testee and is used for acquiring the respiration frequency of the testee. The purpose is to obtain the cardiopulmonary state of a testee through the respiratory frequency of the testee, judge the difficulty of the testee in completing training and further adjust the training scheme. For example, the subject breathes suddenly, the current training is judged to be too difficult, the subject breathes normally, and the current training is judged to be simpler, so that the amplitude or the direction of the rehabilitation training activity can be increased appropriately.
Preferably, the muscle strength rehabilitation assisting device further comprises a signal conditioning circuit arranged between the muscle strength information acquisition equipment and the analysis processor.
And the signal conditioning circuit is used for conditioning the signal of the information data related to the muscle strength recovery degree of the subject in the rehabilitation training process. The signal conditioning may include a/D conversion, amplification, compensation, filtering, and the like.
Preferably, as shown in fig. 2, the signal conditioning circuit includes an amplifier, a compensation circuit, a filter, and an a/D converter connected in sequence. The amplifier is used for amplifying the analog signals acquired by the muscle strength information acquisition equipment and transmitting the amplified signals to the compensation circuit; the compensation circuit is used for performing loss compensation on the amplified signal and transmitting the compensated signal to the filter, and specifically, the compensation is performed on loss in the signal transmission process so as to prevent distortion; the filter is used for carrying out stray suppression on the compensated signal, transmitting the filtered signal to the A/D converter and preventing the analysis processor from misjudging; and the A/D converter is used for converting the filtered signal into a digital signal and transmitting the digital signal to the analysis processor.
Illustratively, the amplifier may be an existing lm324 type amplifier, the compensation circuit may be an existing lm358 type compensation circuit, the filter may be an existing mature filter, and the A/D converter may be an existing adc0809 type A/D converter.
Preferably, as shown in fig. 3, the analysis processor includes a preliminary judgment module, a motion mode selection module, and a muscle activity monitoring module, which are connected in sequence. The preliminary judgment module, the motion mode selection module and the muscle strength activity monitoring module can be realized on the existing MCU through programming.
And the preliminary judgment module is used for carrying out preliminary analysis on the information data acquired by the muscle strength information acquisition equipment, obtaining the cardiopulmonary state of the testee, the range of the movable muscle strength and the range of the direction of the cardiopulmonary state of the testee, and sending the cardiopulmonary state of the testee, the range of the movable muscle strength and the range of the direction of the movable muscle strength to the motion mode selection module.
And the movement mode selection module is used for selecting active training or passive training according to the cardiopulmonary state of the subject and the range of the movable muscle strength amplitude and the range of the direction, when the cardiopulmonary state of the subject is good and the range of the movable muscle strength amplitude and the range of the direction are within a preset range (generally greater than a lower threshold), the active training is selected, otherwise, the passive training is selected, and a mode selection result is sent to the muscle strength movement monitoring module.
And the muscle force activity monitoring module is used for controlling the auxiliary action executing mechanism to execute rehabilitation training according to the mode selection result, monitoring the cardiopulmonary state and the activity amplitude of the testee in real time through information data acquired by the muscle force information acquisition equipment, and adjusting the muscle force activity direction and amplitude in the rehabilitation training in time.
Preferably, the analysis processor further comprises a storage module and a power conversion module. The storage module is respectively connected with the muscle strength information acquisition equipment and the data end of the muscle strength activity monitoring module, and the power supply conversion module is connected with the power supply end of the preliminary judgment module, the motion mode selection module and the muscle strength activity monitoring module.
And the storage module is used for storing the historical information data acquired by the muscle strength information acquisition equipment and the cardiopulmonary state and activity amplitude data of the testee acquired by the corresponding muscle strength activity monitoring module.
And the power supply conversion module is used for supplying power to the preliminary judgment module, the motion mode selection module and the muscle strength activity monitoring module.
Preferably, the analysis processor further comprises a parameter training module. The input end of the parameter training module is connected with the output end of the storage module, and the output end of the parameter training module is connected with the input end of the muscle strength activity monitoring module.
The parameter training module is used for obtaining a compensation value of the muscle strength amplitude and direction, the training frequency and the training time of the current training according to the muscle strength amplitude and direction, the training frequency and the training time data of the testee in the historical rehabilitation training process, superposing the compensation value with the muscle strength amplitude and direction, the training frequency and the training time data of the testee in the last rehabilitation training process to further obtain the muscle strength amplitude and direction, the training frequency and the training time reference of the current training, sending the reference to the muscle strength activity monitoring module, judging whether the muscle strength amplitude and direction, the training frequency and the training time of the current training of the testee accord with the reference by the muscle strength activity monitoring module, reminding the testee that the current training reaches the standard if the muscle strength amplitude and direction, the training frequency and the training time do not accord with the reference, and reminding the trainer that which one of the muscle strength amplitude and direction, the training frequency and the training, adjust the training process in time.
Specifically, assuming that 3 courses of treatment are required for rehabilitation training, 1 course of treatment trains for 7 days, and 1 balance trains 10 times (note: each training is to turn the joint of the limb to be rehabilitated n times), when calculating the muscle strength amplitude of the training (the methods of the muscle strength direction, the training frequency and the training time are the same), the parameter training module executes the following steps:
s1, calculating the difference value of the muscle strength amplitude of the testee in the process of historical rehabilitation training (the previous 7 days of the training are selected) and the previous day of rehabilitation training, wherein the formula is as follows:
P1＝P11+P12+P13+…P1ndata of the 1 st time
P2＝P21+P22+P23+…P2nData of 2 nd
Pi＝Pi1+Pi2+Pi3+…PinData of the ith time
…
PN＝PN1+PN2+PN3+…PNn-data of Nth order
In the formula, PiRepresenting the difference value of the muscle strength amplitude of the ith training subject of the historical rehabilitation training (the first 7 days of the training are selected) and the muscle strength amplitude of the ith training subject of the previous day; pijRepresents the magnitude of the muscle force (which can be expressed as the mean) applied by the subject on the ith training on the previous j days; the data at the ith time represents the magnitude of muscle force (which may be expressed as an average) applied by the subject during the ith training on the previous day; i is 1 … … N, j is 1 … … N, N represents 10 times of training per day, and N represents 7 days of training days for 1 course of treatment.
S2, carrying out summation operation on all obtained difference values to obtain a compensation value S of the muscle strength amplitude of the trainingw(x)
Sw(x)＝θ(P1+P2+P3+…+Pi)
In the formula, θ () represents a summation operation.
S3, superposing the compensation value with the muscle strength amplitude data of the subject in the last rehabilitation training process to further obtain the muscle strength amplitude reference H of the trainingw(x)
Hw(X)＝hw-1{b％+[(X0-Sw(x)*b％)/(Sw(x)*b％)]％}
In the formula, hw-1Representing the previous training muscle strength amplitude standard, b represents a preset lifting value, for example, b is 18, representing that the current training muscle strength amplitude standard has 18% of amplitude lifting compared with the previous training muscle strength amplitude standard, and X0And the current muscle strength amplitude obtained by the muscle strength information acquisition equipment during the initial training (before the mode is selected) before the training is started is shown.
Preferably, the auxiliary motion actuator includes a driving circuit, a motor, a fixing device, and a rotating device. The driving circuit, the motor and the rotating device are connected in sequence. And the driving circuit is used for driving the motor to normally work. And the motor is used for driving the rotating device to drive the muscle part corresponding to the testee to rotate (forward rotation and reverse rotation) according to the control signal output by the muscle strength activity monitoring module. The fixing device is used for fixing the muscle part which does not need to rotate in the rehabilitation training of the testee and preventing the activity posture of the testee from deforming in the training process. And the rotating device is used for driving the muscle part needing to rotate in the rehabilitation training of the testee to rotate (forward rotation and reverse rotation).
Preferably, the auxiliary motion actuator further comprises a protection circuit. And the protection circuit is used for preventing the analysis processor from being damaged due to large current caused by abnormal action of the motor.
Preferably, at least one of the fixing means and the rotating means is provided. As shown in fig. 4, the fixing device comprises a binding band, a binding sheet and an inflatable air bag from outside to inside in sequence. The binding band fixes the inflatable air bag on the muscle part (limb) which does not need to rotate in the rehabilitation training of the subject through the binding sheet.
The rotating device comprises a gear, an operating rod and a protective cover. The gear is arranged in the protective cover and drives the protective cover to rotate through the motor; the operating rod is arranged outside the protective cover, is connected with the protective cover and is arranged at a muscle part needing to rotate in the rehabilitation training of a testee.
The action mechanism of the fixing device and the rotating device is as follows: when the muscle part which does not need to rotate in the rehabilitation training of the testee needs to be fixed, the inflatable air bag starts to be inflated to fix the corresponding muscle part. The amount of inflation will be automatically adjusted according to the size of each subject's limb (as can be done in the prior art, not the focus of the present invention). The rotating device is used for training joint movement, and can be used for forward 360-degree rotation training and reverse 360-degree training. The motor is used for controlling the rotating device, one is used for controlling the training frequency of the testee by driving the rotating device, namely before the training is started each time, the motor provides a small power assistance to prompt the testee to start training, and the other is used for controlling the power assistance and the resistance of the training of the patient.
When the rehabilitation training device is implemented, the muscle strength information acquisition equipment transmits the strength of each muscle at the to-be-recovered limb, the displacement and the speed of each joint at the to-be-recovered limb and the cardiopulmonary state data of a subject to the MCU for analysis, and the MCU judges whether the activity of the patient in the whole rehabilitation training process meets the requirements or not through analysis. If the force point or the joint movement information of the patient is not in line with the requirements in the rehabilitation process, the MCU sends a signal to the muscle strength control device to control the wrong activity of the patient, and the secondary injury of the patient in the training process is prevented. Meanwhile, the MCU simulates the training scheme of the current stage according to the state of the previous stage of the current patient, namely the muscle strength amplitude and direction reference of the current training are obtained, and because the muscle can be effectively enhanced in a non-comfort area, the examinee strives to reach the optimal training expected value (the muscle strength amplitude and direction reference). Besides the expected training value of the joint, the frequency and the time of training are required to be reached. The training frequency is timed by the MCU, then a transient signal is sent to the motor, the motor drives the device a to rotate, and the patient feels the transient initial force of the device a to be used as a prompt, so that the patient can be confident to carry out rehabilitation training. The computer compares the values according to the collected data and the scheme, and if the range requirement is not met, the MCU sends a signal to the muscle strength controller to enable the training result to meet the expected requirement. The muscle force activity control means that the rehabilitation device controls the limb correspondingly in the rehabilitation process, and mainly comprises two aspects of inhibition and pushing. The control part can apply a resistance to the joint and the muscle part to block the movement amplitude of the limb or reduce the force of the muscle to prevent the secondary injury. The pushing aspect emphasizes that the joint moves or the muscle exerts force in an expected range, and the control part can apply assistance to the joint and the muscle, increase the moving amplitude of the limb or strengthen the force of the muscle, and help the patient strengthen the muscle strength.
For the hand muscle strength rehabilitation device, as shown in fig. 5 and fig. 6, the patient inserts the hand into the device, the palm of the patient holds the handle (i.e. the operating rod of the embodiment), the a device is used for collecting muscle information and controlling the movement of the wrist part, the b device is used for fixing the arm, the a and b devices can rotate 360 degrees, and the MCU controls the a device and the b device according to the training requirements. When the muscle strength of the wrist part of a patient is recovered, the device a (a rotating device) is required to rotate for 360 degrees, the device b (a fixing device) is required to be fixed, and the MCU sends an instruction to the controller of the device b to lock. Therefore, the wrong posture can be effectively avoided, for example, when the wrist part is used for muscle strength recovery training, the wrist is required to rotate, and a patient cannot consciously rotate the arm and the wrist during training.
Compared with the prior art, the muscle strength rehabilitation assisting device provided by the embodiment can get rid of the dependence on a therapist. The muscle strength rehabilitation auxiliary device is based on hardware equipment and a software algorithm, and the effect in the rehabilitation process can be kept well consistent. The muscle strength rehabilitation assisting device has the following functions:
1) intelligent identification, automatic mode selection, and judgment of the current physiological state of the testee by the analysis processor according to information data related to the muscle strength recovery degree of the testee in the rehabilitation training process, so that a proper training mode is selected and formulated.
2) Promoting the subject to break through the bottleneck period, and simultaneously preventing the subject from secondary injury. When the training of the testee meets the bottleneck period, the muscle strength rehabilitation assisting device can also give certain help without simply depending on the strength of the testee. Meanwhile, the training of the testee is monitored and controlled in real time, and secondary damage caused by over-training of the testee is prevented.
3) The training scheme is intelligently iterated. The current training scheme of the subject is automatically adjusted according to the actual training effect of the last training without depending on the capability and the effectiveness of a doctor, and meanwhile, the artificial misjudgment is avoided.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (9)
1. A muscle strength rehabilitation auxiliary device is characterized by comprising muscle strength information acquisition equipment, an analysis processor and an auxiliary action executing mechanism which are sequentially connected; wherein,
the muscle strength information acquisition equipment is used for acquiring information data related to the muscle strength recovery degree of the testee in the rehabilitation training process and sending the information data to the analysis processor;
the analysis processor is used for analyzing and judging whether the current muscle strength activity of the limb meets the preset requirement according to the information data and sending a control signal to the auxiliary action executing mechanism according to the analysis and judgment result;
the auxiliary action executing mechanism is used for inhibiting or pushing the current limb muscle strength activity of the subject according to the control signal;
the analysis processor comprises a preliminary judgment module, a motion mode selection module and a muscle strength activity monitoring module which are sequentially connected; wherein,
the preliminary judgment module is used for carrying out preliminary analysis on the information data acquired by the muscle strength information acquisition equipment, obtaining the cardiopulmonary state of the testee, the range of the amplitude and the range of the direction of the movable muscle strength, and sending the cardiopulmonary state of the testee, the range of the amplitude and the range of the direction of the movable muscle strength to the motion mode selection module;
the exercise mode selection module is used for selecting active training or passive training according to the cardiopulmonary state of the subject and the range of the movable muscle strength amplitude and the range of the movable muscle strength direction, when the cardiopulmonary state of the subject is good and the range of the movable muscle strength amplitude and the range of the movable muscle strength direction are within the preset range, the active training is selected, otherwise, the passive training is selected, and the mode selection result is sent to the muscle strength activity monitoring module;
the muscle strength activity monitoring module is used for controlling the auxiliary action executing mechanism to execute rehabilitation training according to the mode selection result, monitoring the cardiopulmonary state and the activity amplitude of the testee in real time through information data acquired by the muscle strength information acquisition equipment, and adjusting the muscle strength activity direction and amplitude in the rehabilitation training in time.
2. The muscle force rehabilitation assisting device according to claim 1, wherein the data related to the degree of muscle force recovery of the subject during the training process comprises: the strength of each muscle at the limb to be recovered, the displacement and the speed of each joint at the limb to be recovered and the cardiopulmonary status of the testee.
3. The muscle force rehabilitation assisting device according to claim 2, wherein the muscle force information collecting apparatus includes:
the pressure sensor is arranged on the surface of the skin of each muscle of the limb to be rehabilitated and used for detecting the strength of the muscle at the arrangement position;
the displacement sensor is arranged at the position of each joint of the limb to be rehabilitated and is used for detecting the movement amplitude of each joint;
the acceleration sensor is arranged at the position of each joint of the limb to be rehabilitated and is used for detecting the speed of each action of each joint;
and the respiration detection sensor is arranged at the nasal cavity of the testee and is used for detecting the respiration frequency of the testee.
4. The muscle force rehabilitation assisting device according to any one of claims 1 to 3, further comprising a signal conditioning circuit;
the signal conditioning circuit is arranged between the muscle strength information acquisition equipment and the analysis processor and is used for conditioning the signal of the information data related to the muscle strength recovery degree of the testee in the rehabilitation training process.
5. The muscle force rehabilitation assisting device according to claim 4, wherein the signal conditioning circuit comprises an amplifier, a compensation circuit, a filter, and an A/D converter which are connected in sequence; wherein,
the amplifier is used for amplifying the analog signals collected by the muscle strength information collecting equipment and transmitting the amplified signals to the compensating circuit;
the compensation circuit is used for performing loss compensation on the amplified signal and transmitting the compensated signal to a filter;
the filter is used for carrying out stray suppression on the compensated signal and transmitting the filtered signal to the A/D converter;
and the A/D converter is used for converting the filtered signal into a digital signal and transmitting the digital signal to the analysis processor.
6. The muscle force rehabilitation assisting device according to claim 1, wherein the analysis processor further comprises a storage module, a power conversion module; the storage module is respectively connected with the muscle strength information acquisition equipment and the data end of the muscle strength activity monitoring module, and the power supply conversion module is connected with the preliminary judgment module, the motion mode selection module and the muscle strength activity monitoring module;
the storage module is used for storing historical information data acquired by the muscle strength information acquisition equipment and cardiopulmonary state and activity amplitude data of the subject acquired by the corresponding muscle strength activity monitoring module;
and the power supply conversion module is used for supplying power to the preliminary judgment module, the movement mode selection module and the muscle strength activity monitoring module.
7. The muscle force rehabilitation assistance device according to claim 6, wherein the analysis processor further comprises a parameter training module; the input end of the parameter training module is connected with the output end of the storage module, and the output end of the parameter training module is connected with the input end of the muscle strength activity monitoring module;
the parameter training module is used for obtaining a compensation value of the muscle strength amplitude and direction, the training frequency and the training time of the current training according to the muscle strength amplitude and direction, the training frequency and the training time data of the testee in the historical rehabilitation training process, superposing the compensation value with the muscle strength amplitude and direction, the training frequency and the training time data of the testee in the previous rehabilitation training process to further obtain the muscle strength amplitude and direction, the training frequency and the training time reference of the current training, sending the reference to the muscle strength activity monitoring module, and judging whether the muscle strength amplitude and direction, the training frequency and the training time of the current training of the testee accord with the reference or not by the muscle strength activity monitoring module.
8. The muscle force rehabilitation assisting device according to claim 6 or 7, wherein the assisting action performing mechanism includes a motor, a fixing device, a rotating device;
the motor is used for driving the rotating device to drive the muscle part of the testee to rotate according to the control signal output by the muscle strength activity monitoring module;
the fixing device is used for fixing the muscle part which does not need to rotate in the rehabilitation training of the testee;
the rotating device is used for driving the muscle part needing to rotate in the rehabilitation training of the testee to rotate.
9. The muscle force rehabilitation assisting device according to claim 8, wherein at least one of the fixing device and the rotating device is provided;
the fixing device comprises a binding band, a binding sheet and an inflatable air bag from outside to inside in sequence; the binding band is used for fixing the inflatable air bag at a muscle part which does not need to be rotated in the rehabilitation training of the subject through the binding sheet;
the rotating device comprises a gear, an operating rod and a protective cover; the gear is arranged in the protective cover and drives the protective cover to rotate through the motor; the operating rod is arranged outside the protective cover, is connected with the protective cover and is arranged at a muscle part needing to rotate in the rehabilitation training of a testee.
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| CN111939529B (en) * | 2020-08-25 | 2021-10-01 | 山东大学齐鲁医院 | Active rehabilitation training method and system based on muscle force measuring device |
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