IT202000003563A1 - Portable device for the rehabilitation of the upper limbs - Google Patents

Description

DESCRIPTION

In support of a patent application for industrial invention entitled:? Portable device for the rehabilitation of the upper limbs?

State of the art.

Upper limb rehabilitation therapy for post-stroke patients can be carried out either by an operator or by a robotic machine, in the first case? entrusted to the operator the task of making the patient perform the right movement and stimulate neuroplasticity, in the second case these operations are carried out by a robot or machine capable of assisting the patient in the rehabilitation exercise, accompanying or guiding him.

Rehabilitation machines come in different forms, each designed for the type of exercise to be performed, some appear as wearable exoskeletons while others are machines with a base fixed to the ground. All have one or more? degrees of freedom active and / or passive.

There are several machine solutions for upper limb rehabilitation operations, which are classified into end-effector and exoskeletons. An example of an end-effector? the machine called Mit Manus based on the US5466213 patent, implemented by two coaxial electric motors that allow you to move two degrees of freedom? and perform planar movements. Another example ? the machine called ReoGo which also allows three-dimensional movements. Examples of exoskeletons are the machines called Armeo Spring, based on the US8347710 patent, and Armeo Power. The devices already? existing ones have limits depending on their shapes and construction details. Specifically, the Mit Manus system does not allow the execution of three-dimensional movements, the Reo Go system, while allowing three-dimensional movements, is not very reliable due to its construction scheme, it does not have adequate stiffness in horizontal movements and the control scheme does not responds effectively to patient iterations. Similarly, the robotic system for shoulder rehabilitation described in US patent US20070225620 / US7862524 B2? a portable serial exoskeleton system with 3 degrees of freedom, intended for shoulder rehabilitation. The disadvantage of the system? that its exoskeletal structure uses the patient's body as a support platform, which can? be harmful to older people who make up the majority of patients with disabilities? motor following a stroke. Another robotic system designed for upper limb rehabilitation? described in CA2581587A1 / US7252644 B2,? an end-effector type system composed of an element that interacts with the human body or a part of it, a force sensor, a force generator, has at least one mobile connection and a base, the force sensor? connected to the force generator, the connecting element between them has at least three degrees of freedom. The disadvantage of this device? which has only one point of interaction (the end-effector) and the movements of the joints of these devices do not correspond to the mobility? Human. Therefore, without external restrictions applied to limit the patient, specific joint therapies cannot be provided by such mechanisms. Another robotic system for post-stroke rehabilitation of the upper limb? described in EP2723536A1 / US20120330198 A1 and? composed of a motor coupler that interacts directly or indirectly with a human joint by means of an end-effector mounted on the patient's arm, the end-effector? arranged in such a way as to perform an arbitrary planar parallel movement, allowing superimposed translations and rotations of the end-effectors mounted with respect to the body of the engaging limb. The disadvantage of this structure? the limited accuracy due to the positioning structure.

In general, the analysis of the state of the art highlights the presence of numerous exoskeletal systems, which present a complex constructive scheme and a difficult use during the whole rehabilitation phase. The complexity? of this type of system represents an obstacle in carrying out the exercises required by specialists and physiotherapists. Similarly, rehabilitation machines are characterized by excessive bulk and weight, therefore they are not portable and always require a fixed installation, with high costs, not foreseeable for users in civil homes.

The technical problem that? solved in the present patent consists in overcoming the limits of the existing solutions, implementing a mechanism with a size and weight much lower than the existing solutions, which ensures the portability of the same. and use even by non-expert users in environments without specific predispositions. Furthermore, the proposed device allows a considerable ease? of use with various modalities? autonomous or semi-autonomous rehabilitation as well as? the possibility? to move various points of the limb, without requiring structural changes. The patented solution allows to rehabilitate both limbs, ensuring large one-dimensional, two-dimensional or three-dimensional movements, customized for each rehabilitation phase.

The proposed system provides a video interface with which the user can? interact autonomously or semi-autonomously, for example through the implementation of playful tasks with difficult objectives? growing. AND? provided for the possibility? to have a remote control and the telemonitoring of the system, in order to have a historical clinical picture of the patience, which can? be monitored by a healthcare professional, allowing the specialist to make clinical assessments on the progression of rehabilitation and changes to the rehabilitation plan.

Description of the preferred embodiment.

The invention? described with reference to Tables 1 to 4.

Table 1 shows a conceptual scheme of the proposed invention, consisting of an electrically powered mechanism (100); a three-dimensional kinematics (101) of reduced dimensions and weight, capable of performing one-dimensional, two-dimensional or three-dimensional movements; a sensorized user interface (102), for specific automated and / or assisted limb movement exercises.

With reference to Table 2, the system has a base (1) with slots for three or more? handling systems, each consisting of an engine that can? be of the step-by-step type (14) that moves a reduction system, which can? be epicycloidal, housed in the casing (24) and closed through the cover (23); to complete the structure we find the opposite support (8) coupled to the motor-reduction unit, described in Table 3, through the spacers (17) and (20). The arm (22)? driven through a system of toothed wheels (4) and (10). The pairs of rods (30) are connected to the arm through ball joints which can be of the uniball type (32). In the preferred embodiment, there are three pairs of rods. At the end? opposite of the rods (30) we find further spherical joints (32), which connect three or more? pairs of rods at the base (43) of the end-effector, described in Table 4; the support plate (51) is fitted to it. AND? a perforated closing cover (39) is provided to protect the internal end-effector mechanism; the terminal part has two machined discs (44) and (49) held together by three spacers (38). The internal mechanism ends with a threaded projection (47) to which the threaded disc (52) is tightened. By connecting a possible protective shell, it is anchored to the end-effector mechanism through the screw (48) on the support (53) of Table 4. This element performs the function of support for the human limb to be rehabilitated.

Table 3 shows an exploded view of one of the motor-reducer units which operate the arms (22). In the preferred embodiment, there are three motor-reduction units. In the preferred embodiment, the motor (14) is connected to the cover (23) of the crankcase (24) and screwed from the inside through four screws (28). In the preferred embodiment, the motor shaft is connected to the toothed wheel called solar (2), it meshes with the three toothed wheels called planets (3) each of which? coupled through a bearing (6) to the device called the train carrier (16); the planets in turn mesh with a toothed area called the ring of the mechanism integrated in the device (24) which also acts as a housing for the gearmotor system. The shaft (18) is coupled to the train carrier (16) by keying it, which has an appropriate shaping, aimed at allowing coupling with the toothed wheel (10); it is coupled to the crankcase (24) by means of a ball bearing (6). On the opposite side of the toothed wheel (10), the shaft (13) is keyed, connected through a further ball bearing (6), which? fixed to the opposite support (8). The arm (22) and the two toothed wheels (4) are keyed onto the shaft (21); two ball bearings (6) are keyed on the same shaft (21) connecting it to the crankcases (8) and (24). The two casings (8) and (24) are fixed to the two spacers (17) and (20) by means of the screws (28). The supports are fixed to the base (1) through 4 screws (27), as shown in Table 2.

Table 4 shows the exploded view of the end-effector, it? consisting of a base (43) which connects to the ball joints (32) by means of the arms (30). The base has such a geometry as to house the structural support (51), on which the ring (39) is mounted. In the latter there are buttons and / or sensors (37) on the vertical walls operated by a mobile cursor (47) connected to the ring (36). The cover (42) protects the internal structure of the end-effector, allowing the housing of the device (44) equipped with a button and / or sensor (37). Three spacers (38) couple the device (44) with the (49), which in turn houses a button and / or sensor (37); the buttons and / or sensors (37) have an antagonistic operation. Therefore, there will be a minimum number of two buttons and / or sensors (37). In the preferred embodiment there are 6 buttons and / or sensors (37). Inside the device (47) slides a shaft (53) equipped with a tab capable of operating the buttons and / or sensors (37), located in the devices (44) and (49). The threaded ring (52) is screwed onto the threaded end of the device (47), tightening all the components of the endeffector. A possible cover cap can? be fixed to the device described by means of a screw (48) which screws into the appropriate seat of the shaft (53). This cover performs the function of housing the hand and mechanical protection of the end-effector. The end-effector cos? composed allows you to interact with the user, identifying the movement intentions, in order to support them in rehabilitative movements. Therefore, this element avoids the use of expensive force or pressure sensors. The main advantages of the proposed solution are simplicity, versatility, modularity? and adaptability? of use of the device even for less experienced operators, the absence of a fixed structure as well as? the complete transportability? with dimensions and weight reduced by up to 90% compared to other existing solutions.

The present invention? described with reference to a predefined embodiment. ? it is to be understood that other embodiments may exist which pertain to the same inventive nucleus, as defined within the scope of the declared claims.

Claims (1)

CLAIMS 1. Portable device for the rehabilitation of the upper limbs, consisting of an electrically powered mechanism (100); a three-dimensional kinematics (101) of reduced dimensions and weight, capable of performing one-dimensional, two-dimensional or three-dimensional movements; a sensorized user interface (102), for specific automated and / or assisted limb movement exercises; 2. Portable device for the rehabilitation of the upper limbs, as per claim 1, consisting of a base (1) with housing for handling systems (14) and any speed reducers? (24), which are connected to three or more? rods of suitable geometry (30) through three or more? pairs of ball joints (32), allowing three or more? degrees of freedom; The base (1) which can? be placed on any flat surface, therefore? easily transportable and repositionable even on a common table or desk; 3. Portable device for the rehabilitation of the upper limbs, as per claim 1, equipped with three or more? motors (14) with compact gearmotor system integrated in the device; in the preferred embodiment it? made by means of a solar toothed wheel (2), which meshes with three or more? sprockets planets (3) each of which? coupled through a bearing (6) to the train carrier (16); the planets mesh with the ring, what can? constitute an integral part of the device (24) as in the preferred embodiment, shown in Table 3; 4. Portable device for the rehabilitation of the upper limbs, as per claim 1, equipped with an end-effector, which includes sensors and shaped elements for housing one or more? pushbuttons and / or sensors (37), which allow to identify the user's movement intentions in Cartesian directions; 5. Portable device for the rehabilitation of the upper limbs, as per claims 1 and 4, in which the buttons and / or sensors (37) have an antagonistic operation; therefore, there are a minimum number of two buttons and / or sensors (37); in the preferred embodiment there are 6 pushbuttons and / or sensors (37), providing interaction along all Cartesian directions; 6. Portable device for the rehabilitation of the upper limbs, as per claim 1, equipped with a video interface for the control of the rehabilitation exercise, with which the user can? interact autonomously or semi-autonomously, for example through the implementation of playful tasks with objectives that can be modulated according to the patient, with difficulty? increasing; 7. Portable device for the rehabilitation of the upper limbs, as per claims 1 and 6, equipped with a remote control and telemonitoring system, in order to have a historical clinical picture of the patient, who can? be monitored by an operator, to carry out clinical assessments on the progression of rehabilitation and changes to the rehabilitation plan.