CN110974616A - Lower limb rehabilitation equipment suitable for patient with spinal cord injury - Google Patents
Lower limb rehabilitation equipment suitable for patient with spinal cord injury Download PDFInfo
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- CN110974616A CN110974616A CN201911276203.2A CN201911276203A CN110974616A CN 110974616 A CN110974616 A CN 110974616A CN 201911276203 A CN201911276203 A CN 201911276203A CN 110974616 A CN110974616 A CN 110974616A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36003—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of motor muscles, e.g. for walking assistance
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36014—External stimulators, e.g. with patch electrodes
- A61N1/3603—Control systems
- A61N1/36031—Control systems using physiological parameters for adjustment
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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Abstract
The invention relates to a lower limb rehabilitation device suitable for a patient with spinal cord injury, which comprises: an equipment rack; a lifting device mounted on the equipment frame; the lower limb movement device is arranged on the equipment rack and positioned below the lifting device: the knee-knee back popliteal fossa support device comprises a crank support fixed on an equipment frame, a crank assembly rotatably arranged on the crank support, a leg mop arranged at the top of the crank assembly and used for supporting the popliteal fossa behind the knees of a patient, and a driving assembly arranged on the crank support and connected with the crank assembly to drive the crank assembly to rotate. Compared with the prior art, the invention can restore certain perception capability and mobility capability and even enable the patient to stand and walk independently through continuous gait training and the like for a period of time for the patient with mobility disability.
Description
Technical Field
The invention belongs to the technical field of rehabilitation instruments for patients with spinal cord injury, and relates to lower limb rehabilitation equipment suitable for patients with spinal cord injury.
Background
Most spinal cord injury patients begin to lose motor ability and consciousness after injury, which causes great troubles to life and is difficult to independently live, and especially for some paraplegic patients, basic rehabilitation training cannot be completed. In order to restore a certain motor ability to a patient, gait simulation training is usually performed by some rehabilitation device, which trains muscles by simulating the walking posture, expecting to rebuild nerve connection.
Most rehabilitation equipment on the market at present is a gait simulation-based method, but some equipment has extremely high requirements on patients and is not completely suitable for paraplegic patients with completely unconscious lower body or patients with weak upper limbs. And most of the rehabilitation instruments have complex structures and complicated operation, and bring great burden to patients and doctors. The rehabilitation effect of the patient is limited by the pure walking training, the patient does not move due to the pure electric stimulation therapy, and the muscle control ability of the patient can be improved through the residual nerve connection.
Some clinical reports have shown that: the introduction of a certain functional surface electrical stimulation into the treatment enables the muscles to effectively contract, peripheral nerves and muscles are stimulated, and the continuously repeated movement pattern information is transmitted into the central nervous system to form an excitation trace on the cortex, so that the original movement function is gradually recovered.
Chinese patent CN203663242U discloses an air bag weight-reducing lower limb training device based on electrical stimulation, which comprises a frame consisting of a bottom plate, two upright posts and two handrails, wherein the rear part of the frame is connected with a box body. The device also comprises a walker, an air bag bracket, an air bag, a pair of briefs, an operation display, a blower, an electrical stimulation module, two groups of stimulation electrodes, a controller, a power supply module and a gas pressure sensor. Although the device disclosed by the patent can realize the personalized weight-reducing gait training to a certain degree, the whole structure is relatively complex, and the operation is not convenient.
Disclosure of Invention
The present invention aims to overcome the above-mentioned drawbacks of the prior art and provide a lower limb rehabilitation device suitable for patients with spinal cord injury, which can be used for patients with mobility disabilities to recover certain perception and mobility, or even enable the patients to stand or walk independently, by continuous flexion and extension or gait training for a period of time and by being matched with electrical stimulation.
The purpose of the invention can be realized by the following technical scheme:
a lower limb rehabilitation device suitable for use with a patient having a spinal cord injury, comprising:
an equipment rack;
install elevating gear in the equipment rack: the lifting rope belt is guided by the first pulley block and the second pulley block in sequence and then vertically and downwardly extends along the third pulley block, the bottom end of the lifting rope belt is connected with a safety bandage which is penetrated by a patient, and the push rod assembly is arranged between the first pulley block and the second pulley block and supports against the lifting rope belt;
the lower limb movement device is arranged on the equipment rack and positioned below the lifting device: the knee-knee back popliteal fossa support device comprises a crank support fixed on an equipment frame, a crank assembly rotatably arranged on the crank support, a leg mop arranged at the top of the crank assembly and used for supporting the popliteal fossa behind the knees of a patient, and a driving assembly arranged on the crank support and connected with the crank assembly to drive the crank assembly to rotate.
Furthermore, each row of pulley blocks is provided with at least one group, each group of pulley blocks comprises pulley bodies with the same number with the lifting rope, and the pulley bodies are rotatably arranged on the lifting frame through bearing pieces. The number of the lifting rope belts is two, and the two lifting rope belts respectively independently penetrate through the three rows of pulley blocks and are connected with the safety bandage in the lifting process.
Furthermore, the bearing part comprises a shaft lever fixed on the lifting frame, a central bearing sleeved on the shaft lever and used for mounting the pulley body, and a bearing end cover sleeved on the shaft lever and abutted against the side part of the central bearing.
Preferably, the pulley bodies of the same group of pulley blocks are provided with two pulley bodies, the two pulley bodies share one shaft lever, and a shaft end retaining ring for fixing the two pulley bodies in the axial direction is further arranged between the two pulley bodies.
Furthermore, the top of the lifting frame is also provided with a fastener which can horizontally move back and forth along the inner side surface of the top of the lifting frame, the fastener is fixedly connected with one end of the lifting rope belt, the lifting frame is also provided with a manual shaft which is arranged along the moving direction of the fastener, one end of the manual shaft is fixedly connected with the fastener, and the other end of the manual shaft penetrates through the lifting frame through threads. Furthermore, a manual handle is arranged at the end part of the manual shaft penetrating out of the lifting frame.
Furthermore, the crank assembly comprises an upper crank and a lower crank which are fixedly connected, wherein the top end of the upper crank is provided with the leg mop, and the end part of the lower crank is rotatably connected with the crank support.
Further, the drive assembly including fix step motor on the crank support, with the driving medium that step motor transmission is connected, fix the transmission bearing on the driving medium to and one end stretch into transmission bearing inner race and rather than fixed step screw, it has the bar hole to process on the crank of lower part, the other end of step screw stretches into the bar is downthehole and can follow its round trip movement.
Still further preferably, the step screw and the output shaft of the stepping motor are eccentrically arranged.
Furthermore, the equipment frame include the bottom support and set up the motion support on the bottom support and be located the frame supporting beam of motion support both sides, set up on the motion support low limbs telecontrol equipment, the frame supporting beam is gone up to support and is set up elevating gear.
Furthermore, the multifunctional electric stimulator also comprises an electric stimulation device, wherein the electric stimulation device comprises an electromyographic signal acquisition component and a functional electric stimulation component. The electromyographic signal acquisition assembly and the functional electrical stimulation assembly comprise a plurality of integrated chips except necessary stimulation electrodes, acquisition electrodes for acquiring electromechanical signals and the like, wherein the stm32 chip is powered by 3.3V voltage, and other integrated chips are powered by +/-5V double power supplies. Meanwhile, the system is divided into a power supply module, a serial port communication module, an electromyographic signal acquisition module, a root-mean-square acquisition module, an electrical stimulation module and the like according to functions, each module can correspond to an integrated chip, and the power supply module mainly comprises three stabilized voltage supply modules; the serial port communication module realizes connection communication with an upper computer; the system comprises a signal acquisition part (an electromyographic signal acquisition module) and a root mean square acquisition chip (a root mean square acquisition module), wherein the signal acquisition part (the electromyographic signal acquisition module) is used for acquiring the electromyographic signals of the surface of a human body; the electrical stimulation module is used for performing functional electrical stimulation on the patient through comparing with a threshold value and controlling by an upper computer command.
The electromyographic signal acquisition component comprises a front-level amplification circuit, a middle-level amplification circuit and a rear-level amplification circuit, in order to reduce interference of other physiological signals, only signals within the range of 20Hz to 150Hz are reserved by combining a filter circuit, and power frequency interference is removed by using a 50Hz band elimination filter, so that the surface electromyographic signals are amplified by 5000-50000 times; the functional electrical stimulation component adopts current stimulation, and the electromyographic feedback electrical stimulation algorithm dynamically adjusts the output size of electrical stimulation in real time by comparing the size of an electromyographic signal with a threshold value in real time. The dynamic adjustment determines the appropriate electrical stimulation intensity for the patient based on individual patient differences.
Compared with the prior art, the invention has the following advantages:
(1) the lifting device is suitable for patients of various body types.
(2) Various leg flexion and extension gait motions can be trained through the lower limb movement device.
(3) Is suitable for patients with spinal cord injuries of different degrees, can be used in cooperation with a wheelchair, and is convenient to operate and use.
(4) The electrical stimulation device is non-invasive, and risks and cost are greatly reduced.
(5) Can be matched with a mode of combining electrical stimulation and lower limb training, so that the rehabilitation effect of the patient is better.
(6) The lower limb rehabilitation equipment is suitable for most of patients with spinal cord injuries, is simple to operate and use, can be used in cooperation with a wheelchair, can be used by a patient only by wearing a protective belt in advance and connecting the equipment, stimulates active muscles through current with certain intensity in the use process, and helps the patient to perform lower limb rehabilitation training in cooperation with functional training for simulating walking.
Drawings
FIG. 1 is a schematic view of the general structure of the apparatus of the present invention;
FIG. 2 is a schematic structural view of an equipment rack of the present invention;
FIG. 3 is a schematic structural diagram of the lifting device of the present invention;
fig. 4 is a schematic view of an exploded structure of a pulley block of the lifting device of the present invention;
fig. 5 is a schematic structural view of the turning points of the first pulley block and the second pulley block;
FIG. 6 is a schematic view of a lower limb exercise apparatus;
FIG. 7 is a schematic view of a crank carrier portion;
FIG. 8 is a schematic view of the operation mode;
FIG. 9 is a schematic diagram of the control logic of a lower limb rehabilitation device incorporating electrical stimulation;
FIG. 10 is a schematic diagram of the composition of the electrostimulation device;
FIG. 11 is a schematic diagram of control logic for electrical stimulation;
the notation in the figure is:
1-equipment frame, 11-bottom support, 12-moving support beam, 13-moving support, 14-reinforcing rib and 15-frame support beam;
2-lifting means, 21-lifting frame, 22-fastener, 23-push rod assembly, 24-first pulley block, 241-pulley body, 242-shaft rod, 243-center bearing, 244-bearing end cover, 245-shaft end retainer ring, 25-second pulley block, 26-third pulley block, 27-lifting rope belt, 28-manual shaft, 29-manual handle;
3-lower limb movement device, 31-crank support, 311-crank support, 312-crank disk, 313-connecting bearing, 32-upper crank, 33-lower crank, 34-leg mop, 35-stepping motor, 36-transmission piece, 37-transmission bearing, 38-step screw and 39-strip-shaped hole;
4-safety bandage.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
The invention provides a lower limb rehabilitation device suitable for a patient with spinal cord injury, which is structurally shown in figure 1 and comprises:
an equipment rack 1;
a lower limb movement device 3 provided on the equipment frame 1 and located below the lifting device 2: comprises a crank support 31 fixed on the equipment frame 1, a crank component rotationally arranged on the crank support 31, a leg mop 34 arranged on the top of the crank component and used for supporting the popliteal fossa at the back of the knee of a patient, and a driving component arranged on the crank support 31 and connected with the crank component to drive the crank component to rotate.
In a specific embodiment of the present invention, please refer to fig. 3, at least one set is provided for each row of pulley blocks, each set includes pulley bodies 241 corresponding to the number of the lifting ropes 27, and the pulley bodies 241 are rotatably mounted on the lifting frame 21 through a bearing member. Two lifting rope belts 27 are arranged side by side, and in the lifting process, the two lifting rope belts 27 respectively and independently penetrate through the three rows of pulley blocks and are connected with the safety bandage 4. Preferably, the first pulley block 24 may be provided in one set, and the second pulley block 25 and the third pulley block 26 are provided in two sets, respectively.
In a more specific embodiment, referring to fig. 4 and 5, the bearing member includes a shaft 242 fixed on the lifting frame 21, a central bearing 243 sleeved on the shaft 242 and used for mounting the pulley body 241, and a bearing end cap 244 sleeved on the shaft 242 and abutting against a side of the central bearing 243. In a further preferred embodiment, two pulley bodies 241 of the same pulley set are provided, the two pulley bodies 241 share one shaft 242, and a shaft end retaining ring 245 for fixing the two pulley bodies 241 in the axial direction is further provided between the two pulley bodies 241. The shaft 242 may be fixedly mounted to the lifting frame 21 by bolts and nuts.
In a specific embodiment of the present invention, referring to fig. 3, the top of the lifting frame 21 is further provided with a fastening member 22 horizontally moving back and forth along the inner side surface of the top, the fastening member 22 is fixedly connected with one end of the lifting rope 27, the lifting frame 21 is further provided with a manual shaft 28 arranged along the moving direction of the fastening member 22, one end of the manual shaft 28 is fixedly connected with the fastening member 22, and the other end thereof is threaded through the lifting frame 21. Further, a manual handle 29 is provided at an end of the manual shaft 28 that penetrates the lifting frame 21.
In a specific embodiment of the present invention, referring to fig. 6 again, the crank assembly comprises an upper crank 32 and a lower crank 33 fixedly connected to each other, wherein the upper crank 32 is provided with the leg mop 34 at the top end thereof, and the lower crank 33 is rotatably connected to the crank support 31 at the end thereof.
In a more specific embodiment, referring to fig. 7 again, the driving assembly includes a stepping motor 35 fixed on the crank support 31, a transmission member 36 in transmission connection with the stepping motor 35, a transmission bearing 37 fixed on the transmission member 36, and a step screw 38 having one end extending into an inner ring of the transmission bearing 37 and fixed thereto, a strip-shaped hole 39 is formed on the lower crank 33, and the other end of the step screw 38 extends into the strip-shaped hole 39 and can move back and forth along the same. In a further preferred embodiment, the step screw 38 is eccentrically disposed with respect to the output shaft of the stepping motor 35. Meanwhile, the shape and size of the strip-shaped hole 39 and the upper crank 32 and the lower crank 33 satisfy: when the stepping motor 35 rotates and drives the transmission piece 36 and the transmission bearing 37 to rotate, the step screws 38 are converted to move back and forth along the inside under the action of the strip-shaped holes 39, and further the lower crank 33 and the upper crank 32 are driven to rotate around the crank support 31, so that the lower limbs of a patient placed on the leg mop 34 can smoothly complete the gait simulation actions of leg stretching and leg bending along with the lower limbs, the single-leg and double-leg training and the passive bilateral synchronous/alternate bending and stretching coordinated motion can be realized, the characteristic of the crank is provided with a limit position, the motion amplitude of the legs of the patient is ensured to be within a certain range, and the safety is improved.
In a specific embodiment of the present invention, referring to fig. 2, the equipment frame 1 includes a bottom support 11, a movable support 13 disposed on the bottom support 11, and frame support beams 15 disposed on both sides of the movable support 13, wherein the lower limb movement device 3 is disposed on the movable support 13, and the lifting device 2 is supported on the frame support beams 15.
In a specific embodiment of the present invention, the kit further comprises an electrical stimulation apparatus, see fig. 9-11, which comprises an electromyographic signal acquisition component and a functional electrical stimulation component. The electromyographic signal acquisition assembly and the functional electrical stimulation assembly comprise a plurality of integrated chips except necessary stimulation electrodes, acquisition electrodes for acquiring electromechanical signals and the like, wherein the stm32 chip is powered by 3.3V voltage, and other integrated chips are powered by +/-5V double power supplies. Meanwhile, the system is divided into a power supply module, a serial port communication module, an electromyographic signal acquisition module, a root-mean-square acquisition module, an electrical stimulation module and the like according to functions, each module can correspond to an integrated chip, and the power supply module mainly comprises three stabilized voltage supply modules; the serial port communication module realizes connection communication with an upper computer; the system comprises a signal acquisition part (an electromyographic signal acquisition module) and a root mean square acquisition chip (a root mean square acquisition module), wherein the signal acquisition part (the electromyographic signal acquisition module) is used for acquiring the electromyographic signals of the surface of a human body; the electrical stimulation module is used for performing functional electrical stimulation on the patient through comparing with a threshold value and controlling by an upper computer command.
The electromyographic signal acquisition component comprises a front-level amplification circuit, a middle-level amplification circuit and a rear-level amplification circuit, in order to reduce interference of other physiological signals, only signals within the range of 20Hz to 150Hz are reserved by combining a filter circuit, and power frequency interference is removed by using a 50Hz band elimination filter, so that the surface electromyographic signals are amplified by 5000-50000 times; the functional electrical stimulation component adopts current stimulation, and the electromyographic feedback electrical stimulation algorithm dynamically adjusts the output size of electrical stimulation in real time by comparing the size of an electromyographic signal with a threshold value in real time. The dynamic adjustment determines the appropriate electrical stimulation intensity for the patient based on individual patient differences.
The above embodiments may be implemented individually, or in any combination of two or more.
Example 1:
based on any one of the above embodiments, the present embodiment provides a lower limb rehabilitation device suitable for a patient with spinal cord injury, and with reference to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, and fig. 6, it can be seen that the apparatus of the present embodiment includes; the device comprises an equipment frame 1, a lifting device 2, a lower limb movement device 3 and the like. As can be seen from fig. 1, the lifting device 2 and the lower limb movement device 3 are both mounted on the equipment rack 1.
Referring to fig. 2 in a matching manner, the equipment rack 1 in the embodiment comprises a bottom support 11, a moving support beam 12 fixedly mounted on a bottom base through a connecting piece and a support adjusting screw, wherein the moving support 13 is fixed at one end of the moving support beam 12 through a bolt, the rack support beam 15 is mounted on two sides of the bottom support 11 and is fixed by welding reinforcing ribs, the reinforcing ribs are connected through the bolt, the safety and stability of the rack are ensured, and the rack support component is used for selecting a hollow square tube to prevent shaking.
Referring to fig. 3, the lifting device 2 in this embodiment includes a lifting frame 21 composed of two side supporting beams and upper and lower beams, a push rod motor portion of a push rod assembly 23 (in this embodiment, an electric push rod) is fixed on the supporting beams by a connecting piece, the push rod portion is fixed on an L-shaped fastening patch, the fastening patch is mounted on the upper beam by a screw, a turning pulley is mounted at a movable end of the push rod portion, a first pulley block 24 is disposed on the fastening patch, two second pulley blocks 25 are disposed and disposed on the fastening patch and the supporting beam, and two third pulley blocks 26 are also disposed and disposed on the lower beam. The pulley mounting position of the lower cross beam is provided with a hole so that the lifting rope belt 27 passing through the third pulley block 26 can pass through the hole and be connected to the safety bandage 4 worn by the patient, the push rod assembly 23 horizontally extends out during the driving of the motor to drive the steering pulley to push out, so that the whole lifting rope belt 27 drives the safety bandage 4 to lift, and then the patient is driven to complete the lifting action. Meanwhile, a fastener 22 capable of sliding back and forth along the upper cross beam is arranged on the upper cross beam, one end of a lifting binding belt is fixedly connected onto the fastener 22, the other end of the lifting binding belt is connected with a manual shaft 28 which penetrates through the lifting frame 21 through threads, and a manual handle 29 is further arranged on the end part of the manual shaft 28, which penetrates out of the lifting frame 21. The manual shaft 28 and the like arranged in the structure can not only play a role of fixing the position of the fastener 22 under the conventional condition, but also adjust the position of the fastener 22 on the upper cross beam by screwing the manual handle 29 when the motor fails, so that the lifting rope belt 27 descends to put down a patient, and in addition, for safety and beauty, the junction part of the end part of the manual shaft 28 and the lifting frame 21 and cover plates are arranged on two sides of the supporting beam through screws.
Referring to fig. 4 and 5, taking the first pulley block 24 and the second pulley block 25 at the fastening patch as an example, the pulley blocks comprise pulley bodies 241 and bearing members, wherein the bearing members comprise shafts 242 fixed on the fastening patch, central bearings 243, bearing caps 244 and shaft end retainers 245, the inner surfaces of the central bearings 243 respectively fixed on one pulley body 241 are separated by the shaft end retainers 245, and the two outer sides are respectively fixed by the bearing caps 244 and are connected to the fastening patch through bolt and nut structures.
Referring to fig. 6, the lower limb exercise device 3 of the present embodiment includes a leg support, a pad may be sleeved on the surface of the leg support for contacting the popliteal fossa at the back of the knee of the patient to push the leg of the patient to lift, a leg mop 34 is installed at the openings at the two ends of the upper crank 32, the upper crank 32 is fixed at the top of the opening of the lower crank 33 through an adjusting bolt, the lower crank 33 is installed at the two sides of the crank support 31 through screws, the cranks can rotate around the crank support 31, two sets of stepping motors 35 are fixed at the two sides of the lower crank 33 respectively, the output shaft of the stepping motor 35 is connected with the lower crank 33 through a transmission member 36, a transmission bearing 37 and a step screw 38 in sequence, specifically, the step screw. When the motor shaft rotates, power is transmitted by the transmission piece 36, the step screws 38 move back and forth in the strip-shaped holes 39 under the eccentric rotation of the transmission bearing 37, the step screws are converted into the rotation action that the lower crank 33 rises and falls around the crank support 31, meanwhile, the leg support is driven to be lifted up and down, the leg is driven to gently complete the gait simulation action of stretching and bending the leg, the single-leg and double-leg training and the passive bilateral synchronous/alternate bending and stretching coordinated movement can be realized, the characteristic of the crank is provided with a limit position, the movement amplitude of the leg of a patient is ensured to be within a certain range, and the safety is improved.
Referring to fig. 7 and 8, the crank support 31 in this embodiment includes a crank support 311 and a crank disc 312, the lower cranks 33 are respectively disposed on two sides inside the crank support 311 and fixedly connected to the crank disc 312, a bearing rod is disposed inside the crank support 311, the crank disc 312 is disposed on the bearing rod through a connecting bearing 313, and the two crank discs 312 are separated by an end cover, so that the lower cranks 33 can be rotatably mounted on the crank support 31.
Example 2
On the basis of embodiment 1, the present embodiment further adopts the following modified design:
in conjunction with fig. 9-11, an upper computer (i.e., a controller, a PLC controller, etc.) may be additionally provided in this embodiment, and the work of each device is controlled by the upper computer. The first point to do is that the upper computer can independently control the work of each device, and the upper computer can independently only use a mechanical training device to help a patient to simulate gait, and can also independently carry out corresponding current stimulation on the affected part of the patient through electrical stimulation. Generally, the electrical stimulation is performed in cooperation with mechanical training devices (i.e. the lower limb movement device 3 and the lifting device 2), that is, the action potentials inside and outside the cell membrane on the surface of the skin of the human body are changed alternately in the process of muscle contraction, and the amplitude of the action potentials is in direct proportion to the muscle contraction. Therefore, when the gait training of the patient is carried out, the magnitude of the current stimulation can be adjusted by comparing the collected electromyographic signals with the set threshold value, so that the training recovery of the patient is quicker and more effective.
The embodiments described above are described to facilitate an understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.
Claims (10)
1. A lower limb rehabilitation apparatus adapted for use with a patient having a spinal cord injury, comprising:
an equipment rack;
install elevating gear in the equipment rack: the lifting rope belt is guided by the first pulley block and the second pulley block in sequence and then vertically and downwardly extends along the third pulley block, the bottom end of the lifting rope belt is connected with a safety bandage which is penetrated by a patient, and the push rod assembly is arranged between the first pulley block and the second pulley block and supports against the lifting rope belt;
the lower limb movement device is arranged on the equipment rack and positioned below the lifting device: the knee-knee back popliteal fossa support device comprises a crank support fixed on an equipment frame, a crank assembly rotatably arranged on the crank support, a leg mop arranged at the top of the crank assembly and used for supporting the popliteal fossa behind the knees of a patient, and a driving assembly arranged on the crank support and connected with the crank assembly to drive the crank assembly to rotate.
2. The lower limb rehabilitation device for spinal cord injury patients according to claim 1, wherein at least one set is provided for each row of pulley blocks, and each set of pulley blocks comprises a corresponding number of pulley bodies on the lifting rope belt, and the pulley bodies are rotatably mounted on the lifting frame through bearing members;
the bearing piece comprises a shaft lever fixed on the lifting frame, a central bearing sleeved on the shaft lever and used for mounting the pulley body, and a bearing end cover sleeved on the shaft lever and abutted against the side part of the central bearing.
3. The lower limb rehabilitation device for spinal cord injury patients as claimed in claim 2, wherein there are two pulley bodies on the same set of pulley blocks, the two pulley bodies share a shaft, and a shaft end retaining ring is disposed between the two pulley bodies for fixing the two pulley bodies in the axial direction.
4. The lower limb rehabilitation device for spinal cord injury patients as claimed in claim 1, wherein the top of the lifting frame is further provided with a fastener horizontally moving back and forth along the inner surface of the top, the fastener is fixedly connected with one end of the lifting rope belt, the lifting frame is further provided with a manual shaft arranged along the moving direction of the fastener, one end of the manual shaft is fixedly connected with the fastener, and the other end of the manual shaft is threaded out of the lifting frame.
5. The lower limb rehabilitation apparatus for spinal cord injury patient according to claim 4, wherein a manual handle is further provided on the end of the manual shaft passing through the lifting frame.
6. The lower limb rehabilitation device for spinal cord injury patient according to claim 1, wherein the crank assembly comprises a fixedly connected upper crank and a lower crank, wherein the upper crank is provided with the leg mop at the top end, and the lower crank is rotatably connected with the crank support at the end.
7. The lower limb rehabilitation device for the patient with spinal cord injury as claimed in claim 6, wherein the driving assembly comprises a stepping motor fixed on the crank support, a driving member in transmission connection with the stepping motor, a transmission bearing fixed on the driving member, and a step screw with one end extending into the inner ring of the transmission bearing and fixed with the transmission bearing, a strip-shaped hole is processed on the lower crank, and the other end of the step screw extends into the strip-shaped hole and can move back and forth along the strip-shaped hole.
8. The lower limb rehabilitation device for the patient with spinal cord injury according to claim 7, wherein the step screw is eccentrically arranged with the output shaft of the stepping motor.
9. The lower limb rehabilitation device for the patient with spinal cord injury as claimed in claim 1, wherein the device frame comprises a bottom support, a movable support arranged on the bottom support, and frame support beams arranged on two sides of the movable support, the movable support is provided with the lower limb movement device, and the frame support beams are provided with the lifting device.
10. The lower limb rehabilitation device for the patient with spinal cord injury according to claim 1, further comprising an electrical stimulation device, wherein the electrical stimulation device comprises an electromyographic signal acquisition component and a functional electrical stimulation component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276203.2A CN110974616A (en) | 2019-12-12 | 2019-12-12 | Lower limb rehabilitation equipment suitable for patient with spinal cord injury |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276203.2A CN110974616A (en) | 2019-12-12 | 2019-12-12 | Lower limb rehabilitation equipment suitable for patient with spinal cord injury |
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| CN110974616A true CN110974616A (en) | 2020-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911276203.2A Pending CN110974616A (en) | 2019-12-12 | 2019-12-12 | Lower limb rehabilitation equipment suitable for patient with spinal cord injury |
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Cited By (1)
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Application publication date: 20200410 |