39results about How to "Comprehensive rehabilitation training" patented technology

The invention discloses a virtual and real combined robot-assisted finger motion function rehabilitation training system, which comprises an upper computer, a control card, a driver and a finger joint motion function rehabilitation robot, wherein the upper computer comprises an interactive graphic user interface and a rehabilitation training task simulation viewport and is in real-time communication with the control card through a network port; the control card forwards the command sent by the upper computer to driver, and transmits the signals acquired by an external sensor to the upper computer; the control card comprises a DA interface, an AD interface, an IO interface and a network communication interface; the driver performs torque control or position control on a motor of the robot according to the command information sent by a controller, and has the following functions of: switching a torque mode, a speed mode and two different modes in a mode of controlling a digital quantity switch; and the finger joint rehabilitation robot has a mechanical structure capable of realizing active and passive bidirectional drive and comprises an execution mechanism and a drive unit.

The invention provides an upper limb rehabilitation robot and a system thereof, and relates to the technical field of medical instruments. The upper limb rehabilitation robot includes a base, a support rod and an upper limb training assembly; the lower end of the support rod is fixedly mounted on the base, and the upper end of the support rod is movably connected with the upper limb training assembly; the upper limb training assembly supports seven-degree-of-freedom movement of an upper limb of a human body, and enables shoulder-elbow joints to perform combined motion and separation motion training in a spatial range; four of the seven degrees of freedom are motor-driven rotational degrees of freedom, and are set to be shoulder joint three-degree-of-freedom rotating joints and elbow jointflexion and extension rotating joints, and the other three are non-powered degrees of freedom, and set to be high and low lift adjustment joints, shoulder rotation adjustment joints and elbow telescopic adjustment joints. The rehabilitation robot is portable, intelligent, low-cost and suitable for home use.

The invention discloses a hip joint rehabilitation training device which comprises a base, a first lead screw, a second lead screw arranged in parallel with the first lead screw, a first connecting seat, a second connecting seat, a stretching auxiliary rod, a stretching main rod and a stretching connecting shaft, and a first motor and a second motor. The upper end of the stretching auxiliary rod is fixedly connected with the stretching connecting shaft; a cross beam is fixed at the upper end of the stretching main rod, and the two ends of the cross beam are hinged to a folding and unfolding adjusting rod through a first shaft sleeve, the first shaft sleeve is perpendicular to the extending direction of the stretching connecting shaft and the extending direction of the stretching main rod,and a pedal assembly is arranged at the upper end of the folding and unfolding adjusting rod; an electric push rod is further arranged at the upper end of the stretching main rod, and the push rod endof the electric push rod is connected to the unfolding and unfolding adjusting rod. According to the invention, the flexion and extension movement of the hip joint in the sagittal plane is met, and most importantly, the hip joint of the human body can be moved inwards and outwards, the rehabilitation training of the ankle joint can be realized, and multi-degree-of-freedom comprehensive rehabilitation training can be realized.

The invention belongs to the technology of rehabilitation mechanical equipment, and particularly relates to an upper limb rehabilitation mechanical arm and robot for patients with spinal cord injury.A shoulder joint assembly comprises a static platform fixed to a mechanical arm fixing rod, a movable platform opposite to the static platform, three shoulder joint motor supports and a shoulder jointgear motor, wherein an output shaft of the shoulder joint gear motor is connected to one end of a first connecting rod fixing frame, and the other end of the first connecting rod fixing frame is connected to a first shoulder joint connecting rod; one end of the first shoulder joint connecting rod is rotationally connected to the shoulder joint motor supports through bearings, and the other end ofthe first shoulder joint connecting rod is rotationally connected with one end of a second shoulder joint connecting rod; the other end of the second shoulder joint connecting rod is rotationally connected with a base plate fixed to the movable platform; and the shoulder joint assembly forms a 3-RRR parallel mechanism. The rehabilitation training requirements corresponding to upper limb joints ofthe patients at different stages can be met, three joint training modules including the shoulder joint training module, the elbow joint training module and the wrist joint training module are included, five degrees of freedom of the upper limbs of the patients are trained, and rehabilitation training of the patients is more comprehensive.

The invention relates to a follow-up movable platform for weight-reduction lower limb rehabilitation trainings. The platform is used to help a patient with a walking disorder make the rehabilitation trainings. The platform comprises a weight reduction system, a vertical support, a movable chassis and a control system, wherein the weight reduction system is fixed on two sides of the top of the vertical support; the bottom of the vertical support is fixed on the movable chassis; and the weight reduction system and the movable chassis are connected to the control system for control. According to the invention, weight reduction control and motion following are achieved; different weight reduction values can be set according to different rehabilitation situations; and the weight reduction values can be adjusted autonomously during the trainings, so that the platform can be adapted to different rehabilitation stages of the patient.

The invention discloses a cross breast cancer postoperative rehabilitation training device, and relates to the field of rehabilitated medical devices. Ball joint driving devices are symmetrically mounted at two ends of a movable base, inner swinging rings and outer swinging rings on the ball joint driving devices are arranged in a crossed manner and driven by a diving motor, electric pushing rodsare connected on the upper portions of the ball joint driving devices, handles are connected on the upper portions of the electric pushing rods, ball rods are connected with the lower portions of theelectric pushing rods and penetrate grooves of the inner swinging rings and the outer swinging rings, so that the ball rods are forced when the inner swinging rings and the outer swinging rings swing,the inner swinging rings and the outer swinging rings swing in different degrees by controlling rotating angles of a swinging motor, and multidirectional swinging of the ball rods is achieved throughsynergic movement of the inner swinging rings and the outer swinging rings. According to the device, upper limbs, shoulder joints and breast surrounding tissues of a patient can be flexibly, effectively, actively, passively and repeatedly stretched, trained and rehabilitated, breast surrounding glands and muscles are trained, back flow of blood and lymph is facilitated, edema is removed, and limbfunctions are recovered.

The invention discloses a medical robot bionic arm for shoulder joint rehabilitation training and medical robot with bionic arm for shoulder joint rehabilitation training. The medical robot bionic armfor shoulder joint rehabilitation training comprises a driving arm shaft, including a big arm shaft and a small arm shaft. A second end of the small arm shaft can be slidingly inserted into a first end of the big arm shaft; a training mechanism consists of a pair of scissors and forks, an extensor and a two-way electric push rod arranged on the small arm shaft. The pair of scissors and forks consists of two scissor and fork fingers used in cooperation. The extensor is equivalent to the muscle tissue of an elbow joint, providing extension power for an elbow joint structure formed by the big arm shaft and the small arm shaft. The driving arm shaft and the training mechanism are combined to form a whole bionic arm structure, and a bionic upper arm of human body carries on the shoulder jointrehabilitation training to the patient. The medical robot bionic arm can imitate the upper arm of human body to train patients in various modes and ways. The wide application scope and good training effect improve the experience of patients. The invention also provides a shoulder joint rehabilitation training medical robot with the bionic arm.

The invention provides an upper limb rehabilitation device. The upper limb rehabilitation device comprises a base, a shoulder connecting piece, a first driving piece, a big arm fixing plate, an elbow connecting piece, a second driving piece, a small arm fixing plate and a pull rope; a supporting frame is arranged on the base, and a shoulder ring is arranged on the supporting frame; the first driving piece is installed on the supporting frame and is in driving connection with the shoulder connecting piece which is rotatably installed on the shoulder ring; the big arm fixing plate is hinged to the shoulder connecting piece, and the second driving piece is installed on the big arm fixing plate and is in driving connection with the elbow connecting piece which is installed on the big arm fixing plate in a swinging mode; the small arm fixing plate is connected with the elbow connecting piece; one end of the pull rope is installed on the base; the base is installed on the back of a patient, the upper limb is correspondingly fixed to the big arm fixing plate and the small arm fixing plate, the small arm fixing plate is adjusted to be bent in front of the chest, the pull rope is connected with the small arm fixing plate, and then the arm can be fixed in front of the chest; and the pull rope is taken down, the big arm fixing plate and the small arm fixing plate are adjusted to swing through the first driving piece and the second driving piece respectively, and then rehabilitation training can be conducted on the patient.

The invention discloses a medical shoulder joint rehabilitation training robot with a bionic arm. The robot comprises a base assembly, a pitching mechanism, a rotating box, a driving arm shaft and a training mechanism; the pitching mechanism comprises a height-adjusting electric push rod, a hinged frame and a pitching electric push rod, and two branch arms at the opening side of the hinged frame are rotatably connected to two opposite side faces of the rotating box respectively; the driving arm shaft comprises a large arm shaft body and a small arm shaft body, the large arm shaft body rotatably penetrates through the rotating box, and a second end of the small arm shaft body is slidably inserted in a first end of the large arm shaft body; the training mechanism comprises a scissor pair arranged on the small arm shaft body, a stretcher and a two-way electric push rod, the scissor pair comprises two scissor fingers for cooperative use, the stretcher is equivalent to the muscle tissue ofthe elbow joint, the driving arm shaft and the training mechanism are combined to form an entire bionic arm structure, and the bionic human upper arm performs rehabilitation training on a patient. Therobot can imitate the upper arm of the human body to train the patient in various forms and modes, the application range is wide, the training effect is good, and the experience of the patient is improved.

The invention provides an under-driven three-degree-of-freedom ankle joint rehabilitation device which comprises a foot plate rotating mechanism, a power mechanism, a plantar flexion and dorsal extension and introversion and extroversion transmission mechanism, an inward-rotation and outward-rotation transmission mechanism, a first adjusting mechanism and a second adjusting mechanism, and the plantar flexion and dorsal extension and introversion and extroversion transmission mechanism is connected with the foot plate rotating mechanism. The inward-rotation and outward-rotation transmission mechanism is connected with the foot plate rotating mechanism, the first adjusting mechanism is connected with the plantar flexion and dorsal extension and introversion and extroversion transmission mechanism, and the second adjusting mechanism is connected with the inward-rotation and outward-rotation transmission mechanism. The rehabilitation device is comprehensive in rehabilitation training function, adjustable and diversified in function, can meet training postures needed by different patients and the full-range rehabilitation requirements for ankle joint rehabilitation, three-degree-of-freedom movement is achieved through one power source, and the three-degree-of-freedom ankle joint rehabilitation device has the cost advantage and is simple in structure and more reliable in movement.

The invention discloses a multifunctional shoulder joint rehabilitation training medical robot. The robot comprises a base assembly; a pitching mechanism, a rotating box, a driving shaft and a training mechanism, wherein the pitching mechanism comprises a height adjusting electric push rod, an articulated frame and a pitching electric push rod; two supporting arms at an opening side of the articulated frame are rotationally connected to the two opposite side faces of the rotating box respectively; the driving shaft comprises a first shaft section and a second shaft section, wherein the first shaft section rotationally penetrates through the rotating box, and the second end of the second shaft section is slidably inserted into the first end of the first shaft section; the training mechanismcomprises a scissor pair arranged on the second shaft section, an impeller and a bidirectional electric push rod, wherein the scissor pair comprises two scissor arms, first ends of the two scissor arms are provided with sliding grooves respectively, the bidirectional electric push rod is fixed to the second shaft section, the end heads of two telescopic rods of the bidirectional electric push rodare respectively provided with threaded pins capable of being vertically screwed to be inserted into or separated from the sliding grooves, and the impeller is arranged between the two shaft sections. The robot has a wide application range and good training results, and improves the patient experience.

The invention relates to an upper limb exercise rehabilitation training device based on rope driving. The upper limb exercise rehabilitation training device comprises a base, a horizontal rotating frame assembly, a vertical rotating frame assembly, a forearm fixing assembly, a wrist rotating assembly and a control circuit module; the base achieves the effects of fixing the whole device and moving the horizontal rotating frame assembly; the horizontal rotating frame assembly achieves the effect of supporting and rotating the vertical rotating frame assembly; the vertical rotating frame assembly achieves the effect of supporting and rotating the forearm fixing assembly; the forearm fixing assembly achieves the effect of fixing the forearm and the wrist fixing assembly; and the wrist fixing assembly achieves the effects of fixing the wrist joint and rotating the wrist. The invention provides the upper limb exercise rehabilitation training device based on rope driving, which can provide multifunctional upper limb rehabilitation training for patients with limb exercise dysfunction.

The invention discloses upper limb rehabilitation training equipment, and relates to the technical field of medical health training equipment. The device comprises a fixed table; limiting sliding grooves are formed in the upper surface of the fixing table. A push plate is slidably connected into the limiting sliding groove. One side of the moving plate is fixedly connected with one side of the push plate; the upper surface of the moving plate is fixedly connected with a threaded column; the upper end of the sleeve is fixedly connected with a training mechanism; supporting plates are fixedly connected to the upper surfaces of the fixing tables; a first supporting plate is hinged to one side face of the supporting plate. A second supporting plate is hinged to one side face of the first supporting plate. One side face of the second supporting plate is hinged to one side face of the training mechanism. Through the design of the limiting sliding groove, the spring, the first supporting plate, the second supporting plate and the training mechanism, in the upper limb rehabilitation training process of a patient, front-back stretching training and left-right rotating training of the upper limb can be achieved at the same time, the patient can obtain more comprehensive rehabilitation training, and the rehabilitation training effect is greatly improved.