CN109091348B - Upper limb rehabilitation robot and system thereof - Google Patents

Abstract

The invention provides an upper limb rehabilitation robot and a system thereof, and relates to the technical field of medical appliances. An upper limb rehabilitation robot comprises a base, a support rod and an upper limb training assembly; the lower end of the supporting rod is fixedly arranged on the base, and the upper end of the supporting rod is movably connected with the upper limb training assembly; the upper limb training assembly supports the upper limb of a human body to perform seven degrees of freedom motions, so that the shoulder elbow joint can perform compound motion and separation motion training in a space range; four of the seven degrees of freedom are motor-driven rotation degrees, namely a shoulder joint three-degree-of-freedom rotation joint and an elbow joint bending and stretching rotation joint, and the other three are unpowered degrees of freedom, namely a height lifting adjustment joint, a shoulder rotation adjustment joint and an elbow expansion adjustment joint. The rehabilitation robot has the characteristics of portability, intelligence, low cost and suitability for household use.

Description

Upper limb rehabilitation robot and system thereof

Technical Field

The invention relates to the technical field of medical equipment, in particular to an upper limb rehabilitation robot and a system thereof.

Background

At present, the field of Chinese medical care is mainly divided into rehabilitation and nursing for the aged. With the aggravation of the aging society, more and more old people cause paralysis of the upper limbs due to stroke and the like, and great inconvenience is brought to daily life. Paralytic patients can stimulate brain plasticity through a large amount of rehabilitation training, recover certain exercise capacity, realize life self-care, improve life quality and maximally return to society. The equipment in the rehabilitation department is mainly divided into simple mechanical traction, a middle-low frequency electric pulse therapeutic instrument and the like, and the rehabilitation equipment at the middle and high ends is relatively rare. Rehabilitation is mainly by people, but the number of qualified rehabilitation physiotherapists is seriously insufficient, so that if rehabilitation methods of the physiotherapists can be reproduced by robots, the technology has great commercial potential. The robot auxiliary rehabilitation training can save a large amount of manpower and material resources, evaluate the rehabilitation level of the patient in real time quantitatively, and train step by step according to the rehabilitation condition of the patient.

At present, although some companies have introduced rehabilitation robot products, most simply add the harshness of the robot to the rehabilitation application. Their equipment is difficult to meet clinical demands. For example, chinese patent CN2014208378875 provides a dual-purpose upper limbs rehabilitation robot of left and right hands, provides the upper limbs rehabilitation robot of left and right sides structure adjustable, and wherein upper crossbeam adopts the lead screw to rotate the adjustment position, and the adjustment mode is inconvenient, and intelligent degree is inadequately, is not applicable to the family and uses, is difficult to satisfy patient's demand.

Disclosure of Invention

The invention aims at: overcomes the defects of the prior art and provides an upper limb rehabilitation robot and a system thereof. The rehabilitation robot has the characteristics of portability, intelligence, low cost and suitability for household use, can be matched with rehabilitation instruments in a hospital in a height manner, and provides perfect rehabilitation training for patients; furthermore, the rehabilitation robot, the background server and the database are associated to form a system, a hospital can control the remote rehabilitation robot to provide personalized rehabilitation training for a patient through the background server, and can store the rehabilitation progress of the patient through the database, so that the rehabilitation training can be tracked, and the rehabilitation training effect is effectively improved.

The following is a specific technical scheme of the invention:

An upper limb rehabilitation robot comprises a base, a support rod and an upper limb training assembly; the lower end of the supporting rod is fixedly arranged on the base, and the upper end of the supporting rod is movably connected with the upper limb training assembly;

The upper limb training assembly supports the upper limb of a human body to perform seven degrees of freedom motions, so that the shoulder elbow joint can perform compound motion and separation motion training in a space range; four of the seven degrees of freedom are motor-driven rotation degrees, namely a shoulder joint three-degree-of-freedom rotation joint and an elbow joint bending and stretching rotation joint, and the other three are unpowered degrees of freedom, namely a height lifting adjustment joint, a shoulder rotation adjustment joint and an elbow expansion adjustment joint.

Further, the seven degrees of freedom include a first rotational degree of freedom, a second rotational degree of freedom, a third rotational degree of freedom, a fourth rotational degree of freedom, and a first, a second, and a third unpowered degree of freedom; starting from the base, the third unpowered degree of freedom, the first rotational degree of freedom, the first unpowered degree of freedom, the second rotational degree of freedom, the second unpowered degree of freedom, the third rotational degree of freedom and the fourth rotational degree of freedom are sequentially connected in series, and the joint motions corresponding to the sequence are height lifting adjustment, shoulder joint first direction rotation, shoulder rotation adjustment, shoulder joint second direction rotation, elbow expansion adjustment, shoulder joint third direction rotation and elbow joint bending and stretching rotation.

Further, the height lift adjustment joint, the shoulder rotation adjustment joint and the elbow telescopic adjustment joint are all provided with locking structures, and the locking structures can be locked after adjustment of each adjustment joint. The height adjustment can be realized by adopting an electric push rod.

Further, the four motor-driven rotary joints are all provided with mechanical hard limiting structures, and the mechanical hard limiting structures comprise mechanical collision blocks and collision switches which are arranged in the positive and negative directions; under the out-of-control state, the mechanical collision block generates collision after the rotary joint reaches the limit position, the motor is locked to prevent the motor from continuing to rotate, and meanwhile, the collision switch is pressed down to cut off the power supply.

Further, the device also comprises a soft limiting structure, wherein the soft limiting structure comprises a control software system and an angle sensor which are in communication connection, the angle sensor is arranged on each rotary joint to receive the control of the control software system, and the control software system is used for limiting the movement in the limiting range of each limit movement.

Further, the upper limb training assembly is made of aluminum alloy and ABS which are relatively light in weight, the arm accommodating structure is U-shaped in a groove shape, and the arm is fixed through the binding belt after being placed in the arm accommodating structure.

Further, a switching operation structure is arranged on the upper limb rehabilitation robot, and through the switching operation structure, the left and right structure switching is rapidly performed so as to support the rehabilitation requirements of the left upper limb or the right upper limb of a user.

Further, a power supply structure is arranged on the upper limb rehabilitation robot and used for supplying power to the power utilization element; and the base is provided with a shifting structure for shifting the whole upper limb rehabilitation robot.

The invention also provides an upper limb rehabilitation robot system utilizing the rehabilitation robot, which comprises a system server, at least one computer and at least one rehabilitation robot, wherein the system server is in communication connection;

the system server is used for storing and processing rehabilitation information of patients, controlling each rehabilitation robot to provide personalized rehabilitation training for the patients, and storing the rehabilitation progress of the patients through the database;

the computer is used for collecting the set rehabilitation parameters, recording training information and sending a control instruction to the rehabilitation robot; outputting a virtual training environment, providing visual feedback of rehabilitation training, and displaying a control interface and rehabilitation training information;

The rehabilitation robot is used as an executing mechanism of rehabilitation training and is used for receiving a control instruction of the computer and executing corresponding motion control, and simultaneously sending sensor data to the computer;

further, the virtual training environment output by the computer is a training environment with an augmented reality effect.

Compared with the prior art, the invention has the following beneficial effects.

1) The rehabilitation robot comprises seven degrees of freedom, four of which are motor-driven rotation degrees of freedom and are arranged to realize three-degree-of-freedom rotation of a shoulder joint and flexion-extension rotation of an elbow joint; the other three are unpowered degrees of freedom, and are set to be high and low lifting adjustment, shoulder rotation adjustment and elbow telescopic adjustment. The robot can complete the training of the combined movement and the separation movement of the shoulder and elbow joint in the space range.

2) The rehabilitation robot system comprises a system server, at least one computer and at least one rehabilitation robot which are in communication connection. The rehabilitation robot can be arranged at places such as a community hospital, a family rehabilitation place or a community rehabilitation center according to the requirements of the rehabilitation training position of a patient, the rehabilitation robot is in remote communication with a system server through a communication network, the hospital (such as a trimethyl rehabilitation hospital or a rehabilitation department) can control the rehabilitation robot of the community hospital through the system server (a background server) to provide personalized rehabilitation training for the patient, and the rehabilitation progress of the patient is stored through a server database, so that rehabilitation becomes a tracked and circulated process.

The rehabilitation robot and the rehabilitation robot system have the characteristics of portability, intelligence, low cost and suitability for household use, can form high-low collocation with rehabilitation instruments in hospitals, and provide perfect rehabilitation training for patients.

Drawings

Fig. 1 is a schematic structural diagram of an upper limb rehabilitation robot according to an embodiment of the present invention.

Fig. 2 is a schematic layout view of an angle sensor in an upper limb rehabilitation robot according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of the design length of each part in the upper limb rehabilitation robot according to the embodiment of the invention.

Fig. 4 is a schematic diagram of a frame of an upper limb rehabilitation robot system according to an embodiment of the present invention.

Fig. 5 is an exemplary diagram of a virtual training scene with an augmented reality effect according to an embodiment of the present invention.

Fig. 6 is a block diagram of a control system for controlling a motor to operate cooperatively according to an embodiment of the present invention.

Detailed Description

The upper limb rehabilitation robot and the system thereof provided by the invention are further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the technical features or combinations of technical features described in the following embodiments should not be regarded as being isolated, and they may be combined with each other to achieve a better technical effect.

It should be noted that the structures, proportions, sizes, etc. shown in the drawings are merely used in conjunction with the disclosure of the present specification, and are not intended to limit the applicable scope of the present invention, but rather to limit the scope of the present invention.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values.

Examples

Referring to fig. 1, an upper limb rehabilitation robot includes a base, a support bar, and an upper limb training assembly.

The lower extreme fixed mounting of bracing piece in on the base, the upper end of bracing piece with upper limbs training subassembly swing joint. In this embodiment, the bracing piece adopts the cavity pole, the one end of upper limbs training subassembly install in the cavity pole for whole upper limbs training subassembly can be relative bracing piece elevating movement.

The mechanical system of the upper limb training assembly is divided into 7 degrees of freedom, which are respectively represented by M1-M4 and P1-P3, wherein four degrees of freedom are rotation degrees driven by a motor, and the three degrees of freedom rotation of the shoulder joint and elbow joint flexion and extension rotation are realized; the other three are unpowered degrees of freedom, and are set to be high and low lifting adjustment, shoulder rotation adjustment and elbow telescopic adjustment. With continued reference to fig. 1, the seven degrees of freedom include a first rotational degree of freedom M1, a second rotational degree of freedom M2, a third rotational degree of freedom M3, a fourth rotational degree of freedom M4, and a first, second, and third unpowered degrees of freedom P1, P2, and P3; starting from the base, the third unpowered degree of freedom P3, the first rotational degree of freedom M1, the first unpowered degree of freedom P1, the second rotational degree of freedom M2, the second unpowered degree of freedom P2, the third rotational degree of freedom M3, and the fourth rotational degree of freedom M4 are sequentially coupled in series. The joint motions corresponding to the third unpowered degree of freedom P3, the first rotary degree of freedom M1, the first unpowered degree of freedom P1, the second rotary degree of freedom M2, the second unpowered degree of freedom P2, the third rotary degree of freedom M3 and the fourth rotary degree of freedom M4 in sequence are height lifting adjustment, shoulder joint first upward rotation, shoulder rotation adjustment, shoulder joint second upward rotation, elbow expansion adjustment, shoulder joint third direction rotation and elbow joint flexion and extension rotation.

The height lift adjustment joint, shoulder rotation adjustment joint and elbow flexible adjustment joint all are provided with locking structure, locking structure can lock after each adjustment joint adjusts. The height adjustment can be realized by adopting an electric push rod.

The materials of the structural parts are aluminum alloy 6061 and ABS which are relatively light in mass, the arm accommodating structure is U-shaped in a groove shape, and the arms are fixed through binding bands after being put into the arm accommodating structure.

Considering safety and control requirements, mechanical hard limits are arranged on the rotary joints driven by the four motors. The mechanical hard limit consists of two parts, namely a mechanical collision block and a collision switch which are both arranged in the positive and negative directions. The motor is locked and blocked after the motor rotates to reach the limit position in an out-of-control state, so that the motor cannot continue to rotate, and meanwhile, the collision switch is pressed down to cut off the power supply. This double protection ensures the safety of the human arm.

Besides hard limit, the rehabilitation robot further comprises a soft limit structure, the soft limit structure comprises a control software system and an angle sensor which are in communication connection, the angle sensor is installed on each rotary joint to receive control of the control software system, motion limit is carried out in a limit range of each limit motion through the control software system, and triple protection can be achieved in safety.

The setting positions of the angle sensors are shown in fig. 2, and one angle sensor is respectively arranged corresponding to the three-degree-of-freedom rotary joint of the shoulder joint, the elbow joint flexion-extension rotary joint and the shoulder rotation adjusting joint. The angle sensors S1, S5, S2, S3 and S4 are respectively and sequentially arranged corresponding to the first directional rotation of the shoulder joint, the shoulder rotation adjustment, the second directional rotation of the shoulder joint, the third directional rotation of the shoulder joint and the elbow joint bending and stretching rotation.

Preferably, the control software system sets a soft limit within 90% of each limit of motion. The values of the motion parameters of the joints are shown in table 1.

TABLE 1

The length parameters of the parts of the upper limb training assembly are shown in fig. 3, and the length parameters of the parts are sequentially represented by q1-q9 for the first rotational degree of freedom M1, the first unpowered degree of freedom P1, the second rotational degree of freedom M2, the second unpowered degree of freedom P2, the third rotational degree of freedom M3 and the fourth rotational degree of freedom M4 which are sequentially connected in series, wherein q4 represents the length corresponding to the elbow telescopic adjusting rod. In this embodiment, the design length of q1 is preferably 5-7cm; the design length of q2 is preferably 22-25cm; the design length of q3 is preferably 20-24cm; the design length of q4 is preferably 38-44cm; the design length of q5 is preferably 14-18cm; q6 is preferably 8-12cm in design length; the design length of q7 is preferably 8-12cm; the design length of q8 is preferably 6-7cm; the q9 design length is preferably 32cm.

In this embodiment, a switching operation structure is provided on the upper limb rehabilitation robot, and through the switching operation structure, the left and right structure is quickly switched, so as to support the rehabilitation requirement of the left upper limb or the right upper limb of the user. For example, when switching to the left structure, the device is suitable for the user to perform left upper limb rehabilitation training, when switching to the right structure, the device is suitable for the user to perform right upper limb rehabilitation training, and the switching time can be completed within 5 minutes.

The upper limb rehabilitation robot can be further provided with a power supply structure for supplying power to the power utilization element. Preferably, a battery power supply mode is adopted, and a battery placing cavity and a battery fixing structure are arranged on the rehabilitation robot.

The upper limb rehabilitation robot is also provided with a motor interface which can be assembled with a motor drive circuit and is provided with a motor control software and hardware interface; and a sensor output interface is also arranged.

In order to facilitate the movement of the whole upper limb rehabilitation robot, a displacement structure can be further arranged on the base and used for moving the whole upper limb rehabilitation robot. Correspondingly, a locking structure is arranged on the displacement structure, and under the condition that the displacement is completed, the displacement structure is locked through the locking structure, so that the upper limb rehabilitation robot is prevented from moving.

Referring to fig. 4, the invention further provides an upper limb rehabilitation robot system using the rehabilitation robot.

The system comprises a system server, at least one computer and at least one rehabilitation robot.

The system server is used for storing and processing rehabilitation information of patients, controlling each rehabilitation robot to provide personalized rehabilitation training for the patients, and storing rehabilitation progress of the patients through the storage. The computer is used for collecting the set rehabilitation parameters, recording training information and sending a control instruction to the rehabilitation robot; and outputting the virtual training environment, providing visual feedback of rehabilitation training, and displaying a control interface and rehabilitation training information. The rehabilitation robot is used as an executing mechanism of rehabilitation training and is used for receiving the control instruction of the computer and executing corresponding motion control, and simultaneously sending sensor data to the computer.

The system illustrated in fig. 4 includes a plurality of rehabilitation robots respectively disposed at community hospital a, community hospital B, community hospital C, community hospital D, and two home rehabilitation sites.

The whole upper limb rehabilitation robot system is divided into three parts:

The rehabilitation robot comprises a mechanical structure and a motor drive thereof. The robot comprises seven degrees of freedom, four of which are motor-driven rotational degrees of freedom and are arranged to realize three-degree-of-freedom rotation of the shoulder joint and flexion-extension rotation of the elbow joint; the other three are unpowered degrees of freedom, and are set to be high and low lifting adjustment, shoulder rotation adjustment and elbow telescopic adjustment. The robot can complete the training of the combined movement and the separation movement of the shoulder and elbow joint in the space range.

And the computer can be provided with a GUI and PC-end control software, wherein the GUI mainly comprises a rehabilitation parameter setting function and an augmented reality system. The virtual reality rehabilitation means can be realized by the design of the GUI and the control software of the PC end. The virtual reality technology provides a technical means for repeated exercise, score feedback and maintenance of three key elements of the motivation for rehabilitation training. Repeated exercises are a necessary factor for a patient to learn a new motor skill, but repeated exercises are not enough, and rehabilitation enthusiasm of the patient and correct cognition of rehabilitation results are also important. The virtual reality is used for rehabilitation training, so that real-time feedback of each exercise result can be provided for a patient who receives rehabilitation training, and the awareness of the patient to the result is improved. The virtual environment can also increase the interestingness of the task, excite and maintain the motivation of the patient to practice repeatedly in various feedback forms, obtain pleasant successful emotional experience and increase the confidence of returning to normal life. A number of research results indicate that patients can learn motor skills in a virtual environment and can migrate the learned motor skills into a real environment.

The system server can comprise a background server and a database, a hospital (such as a three-rehabilitation hospital or a rehabilitation department) can control a rehabilitation robot of the community hospital through the background server to provide personalized rehabilitation training for patients, and store the rehabilitation progress of the patients through the database, so that rehabilitation becomes a trace and circulated process. In this embodiment, the cloud processing mode (cloud server) is preferably adopted after the system server, for example, the existing ali cloud and the cloud platform for communication are rented, so that the cost can be saved.

In this embodiment, preferably, the virtual training environment output by the computer is a training environment with an augmented reality effect. Referring to fig. 5, through GUI software design, a ball-grabbing game is designed for the upper limb rehabilitation mechanical arm, and the actual movements of the seven degrees of freedom of the mechanical arm of the patient in the rehabilitation training process are reflected in the upper limb movements of the person in the virtual scene. When the robot drives a certain joint driven by the patient to rotate a certain angle, the upper limb of the virtual person correspondingly rotates.

The specific using method comprises the following steps: the patient wears the upper limb rehabilitation robot, and the rehabilitation movement of the moving ball is performed with the aid of the robot according to the movement indication of the virtual arm in the GUI (in fig. 5, a ball can be grabbed when a virtual hand moves to the position above the basket on the left side, and then the ball is put into the basket when the virtual hand moves to the position above the basket on the right side). Some of these scenarios may be designed according to rehabilitation requirements. The technology and the platform can be realized by using the C# language by using OpenGL and windows development platforms.

For PC side control software, relevant control instructions can be input. A small-sized distributed control system taking a PC as a core is established in a CAN bus mode, and the coordinated operation of four motors is controlled, wherein the overall structure block diagram of the small-sized distributed control system is shown in fig. 6. The small distributed control system comprises an industrial personal computer, wherein the industrial personal computer is connected with three triaxial gyroscopes through an I2C bus, and is connected with four control circuits through a CAN bus for controlling the coordinated operation of four motors.

The foregoing description of the preferred embodiments of the invention is provided for the purpose of illustration only and is not intended to limit the scope of the invention in any way, as the terms of "comprising," "including," and "having" in the disclosure are to be construed as being inclusive or open-ended, rather than exclusive or closed-ended, unless expressly indicated to the contrary. All technical, scientific, or other terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Common terms found in dictionaries should not be too idealized or too unrealistically interpreted in the context of the relevant technical document unless the present disclosure explicitly defines them as such. Any alterations and modifications of the present invention, which are made by those of ordinary skill in the art based on the above disclosure, are intended to be within the scope of the appended claims.

Claims (7)

1. The utility model provides a recovered robot of upper limbs, includes base, bracing piece and upper limbs training subassembly, its characterized in that:

the lower end of the supporting rod is fixedly arranged on the base, and the upper end of the supporting rod is movably connected with the upper limb training assembly;

The upper limb training assembly supports the upper limb of a human body to perform seven degrees of freedom motions, so that the shoulder elbow joint can perform compound motion and separation motion training in a space range; four of the seven degrees of freedom are motor-driven rotation degrees, namely a shoulder joint three-degree-of-freedom rotation joint and an elbow joint flexion-extension rotation joint, and the other three are unpowered degrees of freedom, namely a height lifting adjustment joint, a shoulder rotation adjustment joint and an elbow extension adjustment joint;

the high-low lifting adjusting joint, the shoulder rotating adjusting joint and the elbow telescopic adjusting joint are all provided with locking structures, and the locking structures can be locked after the adjusting joints are adjusted;

The motor-driven rotary joints are provided with mechanical hard limiting structures, and the mechanical hard limiting structures comprise mechanical collision blocks and collision switches which are arranged in the positive and negative directions; under the out-of-control state, the mechanical collision block collides after the rotary joint reaches the limit position, the motor is locked to prevent the motor from continuing to rotate, and meanwhile, the collision switch is pressed down to cut off the power supply; the device also comprises a soft limit structure, wherein the soft limit structure comprises a control software system and an angle sensor which are in communication connection, the angle sensor is arranged on each rotary joint to receive the control of the control software system, and the control software system is used for limiting the movement in the limiting range of each limit movement;

The rehabilitation robot, the background server and the database are associated to form a system, a hospital can control the remote rehabilitation robot to provide personalized rehabilitation training for a patient through the background server, and can store the rehabilitation progress of the patient through the database, so that the rehabilitation training can be tracked.

2. The upper limb rehabilitation robot of claim 1, wherein: the seven degrees of freedom comprise a first degree of freedom rotation, a second degree of freedom rotation, a third degree of freedom rotation, a fourth degree of freedom rotation, a first unpowered degree of freedom, a second unpowered degree of freedom and a third unpowered degree of freedom; starting from the base, the third unpowered degree of freedom, the first rotational degree of freedom, the first unpowered degree of freedom, the second rotational degree of freedom, the second unpowered degree of freedom, the third rotational degree of freedom and the fourth rotational degree of freedom are sequentially connected in series, and the joint motions corresponding to the sequence are height lifting adjustment, shoulder joint first direction rotation, shoulder rotation adjustment, shoulder joint second direction rotation, elbow expansion adjustment, shoulder joint third direction rotation and elbow joint bending and stretching rotation.

3. The upper limb rehabilitation robot of claim 1, wherein: the upper limb training assembly is made of aluminum alloy and ABS which are relatively light in weight, the arm accommodating structure is U-shaped in a groove shape, and the arm is fixed through the binding belt after being put into the arm accommodating structure.

4. The upper limb rehabilitation robot of claim 1, wherein: the upper limb rehabilitation robot is provided with a switching operation structure, and the left and right structure is quickly switched through the switching operation structure so as to support the rehabilitation requirements of the left upper limb or the right upper limb of a user.

5. The upper limb rehabilitation robot of claim 1, wherein: the upper limb rehabilitation robot is provided with a power supply structure for supplying power to the power utilization element; and the base is provided with a shifting structure for shifting the whole upper limb rehabilitation robot.

6. An upper limb rehabilitation robot system, which is characterized in that: the system comprises a system server, at least one computer and at least one rehabilitation robot, wherein the system server is in communication connection;

the system server is used for storing and processing rehabilitation information of patients, controlling each rehabilitation robot to provide personalized rehabilitation training for the patients, and storing the rehabilitation progress of the patients through the database;

the computer is used for collecting the set rehabilitation parameters, recording training information and sending a control instruction to the rehabilitation robot; outputting a virtual training environment, providing visual feedback of rehabilitation training, and displaying a control interface and rehabilitation training information;

The rehabilitation robot is used as an executing mechanism of rehabilitation training and is used for receiving a control instruction of the computer and executing corresponding motion control, and simultaneously sending sensor data to the computer;

the rehabilitation robot is the upper limb rehabilitation robot according to any one of claims 1 to 5.

7. The upper limb rehabilitation robot system according to claim 6, wherein: the virtual training environment output by the computer is a virtual training scene with an augmented reality effect.