RU201482U1 - ASSISTING SIMULATOR ROBOT FOR RESTORING NORMAL WALK OF A HUMAN - Google Patents

Abstract

The utility model relates to the field of medicine, namely to physiotherapy and neurorehabilitation, and can be used to restore the lost walking skill or its correction to normal. The robot simulator contains a fixed base on which a treadmill is located, a telescopic bar of the patient's body weight unloading system is fixed, at the upper end of which a console with a beam is fixed, on which the patient's corset fastening slings are fixed. The telescopic bar is also equipped with a horizontal swivel console of the system for reproducing the model of the lower limb motility when walking, on which orthoses are fixed. The orthoses contain units for fixing the patient's thigh, lower leg and foot, which are made with the ability to reproduce the anatomy of the patient's legs from the hip joint to the foot, with hydraulic drives. In this case, the horizontal swivel console is made with the possibility of performing movements to the left and to the right, controlled by the intelligent control module, as well as up and down along an elliptical trajectory in the vertical and horizontal planes, selected for each patient separately. The technical result is to increase the efficiency of rehabilitation and recovery functions while reducing the overall dimensions of the recovery device. 1 ill.

Description

The utility model relates to the field of medicine, namely to physiotherapy and neurorehabilitation, and can be used to restore the lost walking skill or to correct it at a physiologically correct level in patients with the consequences of various diagnoses, examples of which can be:

- cerebral palsy,

- vascular pathologies of the brain (including strokes),

- consequences of traumatic brain injury,

- consequences of spiral injuries of various nature, including those associated with spinal cord injury,

- the consequences of neuroinfections.

Various devices of a similar purpose are known from the prior art.

For example, the source of information RU 185378 U1 was taken as the closest analogue, from which a device for accelerated rehabilitation and adaptation of persons with musculoskeletal disorders is known. This device contains a frame made of a metal rectangular pipe and having, in the upper part, two horizontal guides;

a system of vertical restraint of the patient, including the possibility of his movement along horizontal guides; a block consisting of 2 interconnected metal corners, in which are built-in ball bearings, rotating by 180 °, connected to the corners, a bracket to which a corset is attached using a rubber twine and an oval carabiner; an asymmetric folding ladder built into the base of the frame, consisting of cells of different sizes, in each of which a material of different stiffness is laid; and a vertical exercise ladder built into the side wall of the frame.

The disadvantage of all the prior art, and the closest analogue, in particular, is the lack of effectiveness of rehabilitation and recovery functions, since orthoses with fixed lower limbs of the patient move in fixed vertical planes. Also, the disadvantage is the rather large dimensions of the device.

Thus, the objective of the claimed utility model is to eliminate the disadvantages of the prior art.

The technical result to be achieved by the claimed utility model is to increase the effectiveness of rehabilitation and recovery functions while reducing the overall dimensions of the recovery device.

The claimed technical result is fully achieved by a set of features of an independent claim.

An assisting robot simulator for restoring a patient's gait, characterized by the fact that it contains a fixed base on which the treadmill is located, in addition, a telescopic bar of the patient's body weight unloading system is fixed on the fixed base, at the upper end of which is fixed a console with a beam on which the straps for attaching the patient's corset are fixed, while the telescopic bar is also equipped with a horizontal swivel console of the system for reproducing the model of the motility of the lower extremities when walking, on which orthoses are fixed, on which, in turn, the nodes for fixing the patient's thigh, shin and foot are located, which are made with the ability to reproduce the anatomy of the patient's legs from the hip joint to the foot, with hydraulic drives, while the horizontal swivel arm is made with the ability to perform movements controlled by an intelligent control module to the left and to the right, as well as up and down the elliptical trajectories in the vertical and horizontal planes, selected for each patient individually. A separate active dynamic actuator is attached to the horizontal swivel console, which performs the function of controlling the abduction of the patient's hip.

Further, the claimed utility model is illustrated in more detail by a drawing (Fig. 1), in which:

1 - fixed base,

2 - telescopic bar of the patient's body weight unloading system,

3 - console of the patient's body weight unloading system,

4 - beam of the patient's body weight unloading system,

5 - straps for attaching the patient's corset,

6 - horizontal swivel console of the system for reproducing the model of the motility of the lower extremities when walking,

7 - orthoses,

8 - treadmill.

The claimed assisting robot simulator for restoring and correcting the patient's gait (hereinafter referred to as the robot simulator) contains a multilevel bioinspired assisting kinematics driven by an electronically controlled hydraulic drive system, with the ability to create physiologically correct patterns of three-dimensional movement of the patient's legs, high-precision unloading of body weight and effective organization collaborative model of work consisting of N number of treatment places.

The declared robot simulator contains:

- a fixed base on which the treadmill is located,

- a system for unloading the patient's body weight,

- a system for reproducing the model of the motility of the lower extremities when walking,

- dynamic control system,

- an intelligent control module that interacts with the operator's workplace.

The patient's body weight unloading system contains a vertical telescopic bar fixed on a fixed base with the possibility of vertical movement relative to a fixed base, a console fixed at the upper end of the vertical telescopic bar, a patient suspension attachment mechanism, including a beam fixed on the console, and slings on which it is fixed usually the patient's corset.

The system for reproducing the model of the motility of the lower extremities when walking contains a horizontal swivel console, which serves as the basis for attaching and adjusting the hydromechanical part (electronically controlled hydraulic drive system), which includes a movably controlled system of levers and hinges (orthoses).

The horizontal swivel arm serves for suspension through the movable units of orthoses at the level necessary for each specific patient, and has the ability to adjust in width and angle relative to the horizon. The horizontal swivel arm makes controlled movements to the left and right, as well as up and down along an elliptical path in the vertical and horizontal planes.

Orthoses are a paired hinge-lever structure that reproduces the anatomy of the patient's leg from the hip joint to the foot, in which the role of muscles (flexors-extensors) is performed by hydraulic drives controlled by an electronically controlled hydraulic drive system. On the orthoses there are nodes for fixing the patient's thigh and lower leg above and below the knee joint, as well as attachment points for an elastic suspension for fixing the foot in a position corresponding to walking.

The angles and amplitude of movement of the levers, the direction of their displacement and the angles of rotation of the hinges are controlled by built-in sensors (included in the dynamic control system) and are synchronized through an intelligent control module between themselves and the movement of the horizontal transverse console.

To reproduce the movement of the musculoskeletal system in three-dimensional space, the simulator robot detects and performs with high precision:

- calculated values of movement (direction, angles, amplitudes, speed and frequency) of the thigh and lower leg during a step, taking into account the anatomical structure of a particular patient,

- the calculated values of the abduction of the hip and the transfer of the center of mass of the patient's body towards the supporting leg.

Since the feet, during full contact with the surface under the load of the body weight, should be at a distance of 40-50 mm from the midline, and the thigh should be retracted towards the supporting leg, then the plane in which the orthosis works should change its position in space - bend in side of the hip abduction. At the same time, the leg remains fixed in the orthosis, and its movement is completely controlled.

Hip abduction is controlled by a separate active dynamic actuator (via gear on the horizontal pivot arm), precisely synchronized with the movement pattern of the entire system. It shifts the pelvis in the transverse plane by a calculated amount and activates a complex three-stage transmission on the horizontal swivel console, which performs a proportional inclination of the working planes of the orthoses, as well as vertical support - full or partial unloading of the body weight on the supporting leg due to an active hydraulic drive that controls the unloading ...

The hydromechanical part consists of a set of drive devices, in which the energy carrier is hydraulic fluid, controlled by electronic-hydraulic units, receiving commands from an intelligent control module.

The dynamic control system is a set of sensors, including a set of technical vision, controllers and analog-to-digital converters located on the moving parts of the robot simulator (orthoses, horizontal transverse console, etc.).

Sensors in the control system are divided according to their purpose:

- a complex of technical vision (stereo / video pair, video capture and primary processing unit, recognition and analysis unit, statistics unit),

- position detection sensors,

- sensors that measure the strength and speed of the pulse,

- elastic sensors,

- strain gauges.

The dynamic control system is directly connected with the intelligent control module in the mode of continuous communication processing, and provides a continuous comparison of the actual values of the motion parameters of all moving parts and elements relative to each other and in comparison with the set parameters.

The dynamic control system allows you to assess the patient's own motor activity; calculate the level of activity of the robot simulator (additional effort and amplitude of movement created on the movable elements to which the patient's limbs are attached); timely implement an instant complete stop of the robot simulator in case of critically increased resistance to the movement of the orthosis.

The dynamic control system provides in real time an accurate change in parameters and control algorithms for individual elements and the entire system as a whole, including in the format of anticipating changes due to self-learning of the system.

The intelligent control module is a software and hardware complex for monitoring and controlling all elements and systems of a robot simulator, providing continuous feedback in real time between the robot simulator and the patient, the robot simulator and the operator, including through remote access.

The intelligent control module operates on software that uses technologies of neural networks and distributed computing and makes it possible to simultaneously effectively manage up to 12 treatment sites with individual programs of rehabilitation procedures in real time, taking into account their individual physiological clinical characteristics based on the prescriptions of doctors and the current psychophysical state.

The intelligent control module implements solutions based on machine thinking technologies (artificial intelligence), providing the following capabilities:

- pattern and process recognition,

- video analytics,

- learning self-learning system,

- modeling and forecasting changes in the state of the internal and external environment.

The intelligent control module includes the following blocks:

- data acquisition unit,

- condition control unit,

- task setting block,

- stepper motor control unit,

- block of analytics and self-study,

- statistics block,

- external interface block.

The data acquisition unit is implemented on the ARM controller, has 6 receive channels and 2 output channels. The purpose of this block is to process incoming information from input sensors and transfer the summarized data to internal consumers. This block processes information at a frequency of up to 120 Hz.

The state control unit is responsible for receiving data from all sensors and the interface system, storing the state vector in the specified criteria. This block sets the tasks for the stepper motor control unit.

The problem statement unit is responsible for calculating critical values and setting a task for the condition monitoring unit.

The stepper motor control unit is responsible for setting and changing the parameters of the stepper motors in accordance with the specified parameters.

The analytics and self-learning unit is responsible for the correct operation of the control system in the following situations:

- introduction of new algorithms and calibration of the entire system, taking into account new inputs in order to fix the optimal algorithms and parameters,

- the appearance of critical errors due to the wear of individual elements of equipment during long-term intensive operation, this block allows software to compensate for deviations and / or promptly inform the operator about the threat of serious malfunctions. In critical cases, it provides a complete stop of the system until the breakdown is corrected.

The statistics block is responsible for the accumulated and structuring of statistical data on changes in the internal environment and the condition of patients.

The external interface block is designed to display information on the computer screen about the state of the system, the state of the patient, setting a task for work, tracking their critical changes, viewing statistics.

The control interface is allocated in a separate segment and can be brought to a remote workstation.

In the claimed device, the orthoses themselves and the entire active part of the robot perform a complex three-dimensional movement, involving the patient's legs and body in reproducing the physiologically natural walking process, and the parameters of the movements of all moving elements are calculated taking into account the individual physiological characteristics of the patients and set by the doctor. At the same time, in the patient's brain, the center responsible for the upright walking process is restored in the feedback mode to the normal walking pattern.

The system of unloading of body weight maintains the level of force, set by the doctor / operator, transferred to the patient's foot during the full contact of the foot with the contact patch on the supporting surface. The load level can be equal to the total weight of the patient (but not exceed it), or not provide complete unloading. Depending on the training program, the system of unloading body weight changes this level in the process of training on one limb or on both limbs (each with its own value).

Example: If the patient weighs 80 kg, the patient can lean on the treadmill with a force of 40 kg with a 50% unloading. When this force is critically increased, the body weight relief system immediately lifts the patient off the support, relieving the foot. That is, the patient and the system for reproducing the model of the normal motility of the lower extremities during walking, in which he is fixed, are in a dynamically suspended position.

The efforts of the body weight unloading system are monitored by a strain gauge, the information from which through an analog-to-digital converter enters the intelligent control module, which transmits the corrected algorithms to the drive of the body weight unloading system.

A hydraulic power drive, or a counterweight drive, or an electromechanical drive can be used as a drive for the body weight unloading system.

The claimed utility model is new, since the totality of its essential features is not known from the prior art, and, accordingly, meets the "novelty" condition of patentability.

The claimed utility model meets the "industrial applicability" condition of patentability, since it can be used in industry.

Although the present utility model has been disclosed with reference to preferred embodiments thereof, this is not intended to limit the present utility model, those skilled in the art may modify and implement the present utility model without departing from the spirit and scope of the utility model, therefore , the scope of protection of this utility model must be regulated by the scope specified in the claims of the utility model.

Claims (1)

An assistant robot simulator for restoring the patient's gait, characterized by the fact that it contains a fixed base on which the treadmill is located, a telescopic bar of the patient's body weight unloading system is fixed, at the upper end of which a console with a beam is fixed, on which the patient's corset fastening slings are fixed at the same time, a horizontal swivel console of the system for reproducing the model of the motility of the lower extremities during walking is installed on the telescopic bar, on which orthoses are fixed, on which the nodes for fixing the patient's thigh, lower leg and foot are located, which are made with the possibility of reproducing the anatomy of the patient's legs from the hip joint to the foot, with hydraulic drives, while the horizontal swivel console is made with the ability to perform movements controlled by an intelligent control module to the left and to the right, as well as up and down along an elliptical path in the vertical and horizontal planes , selected for each patient individually, while a separate active dynamic drive is installed on the horizontal swivel console, which performs the function of controlling the abduction of the patient's hip.

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