64results about How to "Improve the efficiency of rehabilitation training" patented technology

The invention provides a self-adaptive recommendation method and system for a rehabilitation training prescription based on deep reinforcement learning. The method comprises the following steps: 1) collecting basic information and medical record information of a patient; 2) acquiring cerebral cortex blood oxygen data of different brain regions of the patient and movement and myoelectricity data ofaffected limbs of the patient; 3) calculating brain function evaluation indexes during exercise and rehabilitation training of the patient by utilizing the brain blood oxygen data, and calculating exercise function evaluation indexes and muscle function evaluation indexes during exercise and rehabilitation training of the patient by utilizing the exercise data and the myoelectricity data so as todynamically evaluate the brain function, the exercise function and the muscle function of the patient; 4) inputting the brain function, motion function and muscle function evaluation indexes obtainedin the step 3) into a pre-established deep reinforcement learning model to train the deep reinforcement learning model and automatically generate a rehabilitation training prescription; and 5) feeding back the rehabilitation training prescription generated in the step 4) to a doctor and the patient for rehabilitation training. By means of the method and system, self-adaptive adjustment of the training prescription can be achieved.

The invention discloses a lower limbs rehabilitation robot movement control system which comprises a passive training mode and an active training mode these two working modes according to different rehabilitation effects at different restoration stages of a patient, wherein in the passive training mode, the patient is driven by mechanical legs to move according to a predetermined physiological gait trajectory, the generated abnormal movement is completely inhibited; in the active training mode, limited abnormal movement of the patient is inhibited by the mechanical legs, the joint driving force generated by the action of the patient on the mechanical legs is extracted by a man-machine inverse dynamics model through real-time detection of man-machine interaction, the active movement intent of the patient is acquired, so that the patient can initiatively adjust the gait trajectory in real time, and the enthusiasm of the patients initiatively participating in the rehabilitation training is improved. The lower limbs rehabilitation robot movement control system is suitable for the lower limbs rehabilitation training movement at different restoration stages, enhances the initiative of patients participating in the rehabilitation training, and establishes the rehabilitation confidence and the movement enthusiasm of the patients, so as to enhance the effect of rehabilitation training.

The invention discloses a rehabilitation system for disabled persons based on virtual reality, which comprises a functional electrical simulation module, a motion capture module and a virtual reality module; wherein the motion capture module is respectively connected with the functional electrical simulation module and the virtual reality module. By stimulating the nerves and muscles of human body and simultaneously recording the limb movement after stimulation, the rehabilitation system for disabled persons based on virtual reality adjusts a functional electrical stimulation parameter through closed loop control, and presents the movement to a user by utilizing a virtual reality technology. For the reconstruction of limb movement function, the closed loop control is a more natural optimal control method which realizes the stationarity of limb movement and better conforms to human movement characteristics. Real-time visual feedback can effectively promote the reconstruction of limb movement function and improve the efficiency of rehabilitation training. The three-dimensional interactive immersing environment of the virtual reality can provide multi-mode feedback information such as visual feedback information, acoustic feedback information and the like of movement process and movement effect for patients, arouse and maintain the motivation of the patients for repetitive practice.

The invention discloses a reinsman motion posture capturing and three-dimensional reconstruction system based on the inertial sensing technology, and the system comprises a reinsman motion posture capturing unit which comprises a plurality of inertial sensors distributed on the body of a reinsman, a controller, and a wireless transmitting module for data output; a three-dimensional virtual character motion reconstruction unit which comprises a wireless receiving module for receiving the information, and a human body model real-time reconstruction module connected with the wireless receiving module; and a reinsman evaluating logic frame unit which is connected with the human body model real-time reconstruction module and comprises a reinsman state data display module and a posture calibration module. According to the invention, the system prestores the standard motion postures of the Chinese reinsman, drives the movement of the virtual three-dimensional model through the data of sensor posture analysis, finds out the wrong postures of the reinsman, carries out the targeted adjustment, achieves the coupling research of the human and horse motion postures, and improves the score of a sportsman.

The invention discloses a rope-driven upper limb rehabilitation training robot system based on virtual reality and a use method thereof. The rope-driven upper limb rehabilitation training robot systemcomprises a 7-DOF upper limb rehabilitation train robot body and a virtual reality rehabilitation training system, can realize shoulder joint abduction/adduction, external/internal rotation and flexion/extension, elbow flexion/extension, forearm internal/external rotation and wrist joint abduction/adduction and flexion/extension rehabilitation training of patients with upper limb motor dysfunction, can ensure the safety of rehabilitation training and improve the control accuracy of rehabilitation training robot through a method of shoulder joint movement center positioning; and the virtual reality rehabilitation training system recognizes the posture of human upper limbs through the posture sensor and Kinect binocular vision sensor installed on the rehabilitation training robot, and, as the input of virtual reality scene, improves the interest and efficiency of rehabilitation through games related to upper limb movement training.

The invention discloses a sitting and standing training method and system of a lower limb rehabilitation robot, and relates to the technical field of rehabilitation medical treatment. The method comprises the following steps of: when following sitting and standing training is begun, according to a weight loss value and the speed of the following sitting and standing training, determining the indication movement direction of the lower limb rehabilitation robot; according to torque information which is obtained in real time, is collected by a torque sensor and is between the pelvis of a patientand the lower limb rehabilitation robot, determining the intentional movement direction of the patient; comparing the indication movement direction and the intentional movement direction, and if the indication movement direction and the intentional movement direction are inconsistent, stopping the movement of the patient according to the original intentional movement direction; and meanwhile, whenthe patient carries out the following sitting and standing training, according to pressure information, enabling the lower limb rehabilitation robot to move front and back. By use of the method, according to different rehabilitation periods of the patient, different weight loss values are applied so as to meet the early dynamic weight loss assistance of the patient, the intentional movement direction of the patient can be regulated according to the indication movement direction of the lower limb rehabilitation robot to protect the patient from secondary injuries during a rehabilitation training period, and rehabilitation training efficiency is improved.

The invention discloses a rehabilitation training demonstration method and an upper limb rehabilitation training device, and belongs to the technical field of rehabilitation training. The method comprises the steps that 1, the upper limb rehabilitation training device enters a demonstration mode according to an externally-input demonstration instruction to start a coding unit; 2, the coding unit records location moving of the upper limb rehabilitation training device to form and record a complete location changing track; 3, whether the demonstration mode is finished or not is judged, if yes, the demonstration mode exits, if not, the step returns to the step 2, and the upper limb rehabilitation training device executes all the recorded location changing tracks according to the time sequence of recording the location changing tracks to drive the upper limbs of rehabilitation personnel to perform rehabilitation training. The rehabilitation training demonstration method and the upper limb rehabilitation training device have the advantages that the repeated labor burden of physical therapists is relieved, the labor cost is reduced, and the rehabilitation training effect is improved.

The invention provides an auxiliary monitoring device used for rehabilitation training after fracture surgery. The auxiliary monitoring device comprises a cloud server, a data acquisition device, a doctor receiving terminal and a patient receiving terminal. The data acquiring device is provided with a swing acquisition device for acquiring a swinging speed and a stress acquisition device for acquiring stress, the swing acquisition device is connected with the stress acquisition device in a communication manner and connected with the cloud server in a data transmission manner. The cloud server is in double-way connection with the doctor receiving terminal and in one-way connection with the patient receiving terminal. The swing acquisition device further comprises a belt and a plastic shell, two ends of the belt are detachably connected, and the plastic shell is detachably mounted on the belt. The auxiliary monitoring device is capable of monitoring rehabilitation training of arms and lower limbs, is diverse in monitoring functions, is capable of playing a role in alarming nonstandard training of a patient during monitoring, and thereby being capable of enhancing a rehabilitation effect of the patient. The patient only needs to wear the auxiliary monitoring device on the wrist or put it in a shoe cavity during use, and accordingly the auxiliary monitoring device is simple, easy and convenient to use, simple in structure, small in size and easy to carry.

The invention discloses an intelligent walking-aid rehabilitation training robot, which relates to the technical field of medical instruments, the intelligent walking-aid rehabilitation training robotcomprises a man-machine interaction unit, a pelvis auxiliary movement mechanism, a lifting mechanism, a control unit and a chassis moving mechanism, the chassis moving mechanism can move in all directions, the pelvis auxiliary movement mechanism is installed on the lifting mechanism and used for lower limb rehabilitation training of a patient under guidance of doctors or accompanying of family members, horizontal rotation, horizontal swing and lateral rotation of the pelvis of the human body are achieved, and the effect that the patient is exercised to control the pelvis to achieve lower limbbalance is achieved. The invention provides the intelligent walking-aid rehabilitation training robot, motion damping, auxiliary supporting, obstacle avoiding and walking assisting can be provided, three training modes of standing balance training, walking static training and walking dynamic training are provided for the patient, the training effect can be displayed in real time through the man-machine interaction unit, and therefore the corresponding training modes are selected for the patient at different rehabilitation stages, and the rehabilitation training efficiency is improved.

The invention discloses an on-line motion recognition system of rehabilitation robot hand based on LABVIEW platform, belonging to the field of electronic science and rehabilitation medicine. The hardware part of the system includes a host computer, an ARM processor, a wearing rehabilitation gloves module and an EMG signal acquisition module. A Software part includes an online gesture recognition,a hand rehabilitation training and a LABVIEW rehabilitation status display module. The wearing rehabilitation glove module comprises a pneumatic tendon, a proportional valve, a finger sleeve, a connecting rod driving the finger sleeve, and a driving circuit driving the tendon. The myoelectric signal acquisition module is composed of a myoelectric electrode, a low-noise preamplifier, a signal conditioning circuit and a data acquisition card. The LABVIEW rehabilitation status display module includes a data acquisition unit, a user password login unit, and a feature and category display unit. Thepresent invention utilizes the advantages of LABVIEW rich functional controls and real-time data processing to visualize the on-line recognition process of hand movements based on electromyography, thereby facilitating the monitoring of the recognition process.

The invention discloses an ankle joint rehabilitation training device. The ankle joint rehabilitation training device comprises a work table, a Z-axis rotation mechanism erected to the work table and rotating around the Z axis of the work table, a Y-axis rotation mechanism connected with the Z-axis rotation mechanism and rotating around the Y axis of the work table, and an X-axis rotation mechanism connected with the Y-axis rotation mechanism and rotating around the X axis of the work table, wherein the lower end of the X-axis rotation mechanism is provided with a pedal plate parallel to the table board of the work table; the Y-axis rotation mechanism comprises an annular bracket vertically fastened to a drive arm of the Z-axis rotation mechanism, an annular sliding cover in sliding arrangement with one side wall of the annular bracket, and a Y-axis drive mechanism used for driving the annular sliding cover to rotate around the axis of the annular bracket, the Y-axis drive mechanism rotates synchronously with the annular sliding cover, and the X-axis rotation mechanism is fastened to one side of the annular sliding cover. Due to the adoption of the structural design, the ankle joint rehabilitation training device has the advantage that the multi-freedom-degree movement of the ankle joint is conveniently and rapidly realized, and further, the efficiency of the rehabilitation training is effectively promoted.

The invention discloses an active and passive training mode control system and method for a rehabilitation robot based on electroencephalography. The system comprises an imagination guiding module, configured to play motion imagination guiding audio and video, a signal acquisition module, configured to acquire motion imagination electroencephalography signals generated when a user plays the audioand video, and pre-process the motion imagination electroencephalography signals, a signal processing module, configured to perform multilayer wavelet decomposition on the pre-processed signals, extract wavelet coefficients of signals of a preset frequency band, calculate a mean, an energy mean and a mean square error of the wavelet coefficients of the frequency band respectively, and calculate acharacteristic value alpha of the user in each imagination by using a linear discriminant classification algorithm, and a rehabilitation robot control module, configured to control the rehabilitationrobot to enter a passive training mode when the alpha is smaller than a threshold to train according to a preset angular velocity, or control the rehabilitation robot to enter an active training modewhen the alpha is greater than the threshold, and adjust the angular velocity of mechanical arms according to the alpha. By using the system and the method, the user can freely switch the active training mode and the passive training mode during the rehabilitation training.

The invention discloses an intelligent training system and method for an upper limb rehabilitation robot based on machine learning, and the system comprises a robot auxiliary subsystem which is used for assisting a patient to complete a rehabilitation training action through an upper limb rehabilitation robot when the patient is not enough to complete a rehabilitation training task; an input statemonitoring subsystem which is used for monitoring the input degree of the patient during training through the upper limb rehabilitation robot, the myoelectricity acquisition equipment and the electroencephalogram acquisition equipment when the upper limb rehabilitation robot assists the patient; an intelligent learning subsystem which is used for learning the influence of a previously applied stimulation test on the input degree according to the input degree of the current moment so as to recommend a personalized stimulation scheme suitable for the patient at the next moment and change a rehabilitation training mode; an input state improving subsystem which is used for detecting whether the input degree of the patient is reduced or not, and intervening the next training process if the input degree is reduced. According to the invention, the system can provide an intelligent training prescription and mobilize a patient according to the condition of the patient to ensure the input stateduring training.

The invention discloses a rehabilitation assisting apparatus based on department of orthopaedics. The rehabilitation assisting apparatus comprises a base plate, wherein a placing box is fixedly connected to the right side of the top of the base plate; a bottom box is fixedly connected to the left side of the top of the base plate, and a top box is fixedly connected to the tops of the placing box and the bottom box; a rotating shaft is rotatably connected to the left side of the top box; a vertical plate is fixedly connected to the surface of the rotating shaft; weighting boxes are fixedly connected to the top and the bottom of the right side of the vertical plate; between the two weighting boxes, a push plate is rotatably connected to the right side of the vertical plate; and the side, away from the vertical plate, of the push plate penetrates the bottom box and extends into the bottom box. The invention relates to the technical field of rehabilitation assisting apparatuses of department of orthopaedics. According to the rehabilitation assisting apparatus based on department of orthopaedics and a rehabilitation using method of the rehabilitation assisting apparatus, hands of a patient can be selected in rehabilitation training as required, and transverse and vertical training can be implemented; therefore, the rehabilitation assisting apparatus is quite convenient to use; effective rehabilitation can be implemented; a rehabilitation effect can be greatly improved; and unnecessary waste can be reduced.

The invention provides a cardiopulmonary function tester with a rehabilitation training function. The tester discloses a supporting bottom plate for supporting a cardiopulmonary rehabilitation training device, a slope plate, a bicycle body for rehabilitation training, a cardiopulmonary function testing mechanism for cardiopulmonary function testing and a self-adaptive protection mechanism for joint protection for long-time training, and relates to the field of medical rehabilitation. According to problems existing in existing cardiopulmonary function rehabilitation and testing, the close relation between rehabilitation training and testing is analyzed, and the cardiopulmonary function tester with the rehabilitation training function and combining real-time monitoring and protective rehabilitation training is designed; therefore, the problems that a common cardiopulmonary function testing device is single in function so as to be beneficial to mastering the real-time illness state of a patient, a rehabilitation training device lacks protection for athletes, certain potential safety hazards exist, and the rehabilitation efficiency is also easily affected are effectively solved.

The invention discloses a shape memory alloy driven rope pulling type finger rehabilitation training device and method. The device comprises a vertically-arranged frame, a fixing platform is arranged in the frame, a first pulley, a third pulley and a guiding ring are arranged on the top inside the frame, five second pulleys are arranged at the bottom inside the frame, and a rotating shaft is rotationally installed inside the frame; the device further comprises fingerstalls arranged on the five fingers of the palm in a sleeving mode, an upper steel wire rope connected with the fingerstalls is wound around the first pulley and the third pulley and then penetrates through the guiding ring to be fixed to the rotating shaft, and a lower steel wire rope connected with the fingerstalls is wound around the second pulleys and then is fixed to the middle of the rotating shaft; a magneto-rheological damper and a belt pulley are arranged on one side of the frame, the magneto-rheological damper is connected with the rotating shaft through an internal rotor, the rotating shaft is connected with the belt pulley through a key, a steel wire rope is wound around the belt pulley, and the two ends of the steel wire rope are connected with the bottom of the frame through shape memory alloy wires and springs. The method is applicable to five-finger active/passive coordinated rehabilitation training of a finger hemiplegic patient or a finger injured patient.

The invention discloses a hand fine motion ability testing and training device, which is composed of an arm bracket, a hand bracket, a force sensor, a programmed resistance source, a control box, a supporting table top, evaluation analysis software and the like. During testing, in order to prevent action compensation, an arm of a subject is tied to the arm bracket and a palm is tied to the hand bracket, a single finger or multiple fingers of the subject autonomously pull the knot at the stress application tail end and the wrist rotates leftwards and rightwards to obtain change signals of the force sensor, an angle sensor and traction rope length respectively, and the change signals are transmitted to the evaluation analysis software and can be used for quantitatively evaluating the motionability of wrist joints and finger joints of the subject, so that evaluation of the hand fine motion ability test is achieved. During rehabilitation training, a subject does actions with the same testposition, and the resistance output by the resistance source is adjusted, so that the finger joints and the wrist joints of the subject receive different degrees of resistance in the motion process,and the resistance training effect is achieved.

The invention discloses a sitting and standing training robot and a sitting and standing training method and system thereof, and relates to the technical field of rehabilitation medical treatment. Themethod comprises the steps of obtaining an actual pelvis height range; obtaining the current pelvis height of a patient; judging a posture of the patient according to the actual pelvis height range and the current pelvis height; determining a target movement direction according to the posture; obtaining a pressure value and a torque value; determining an intention movement direction according tothe pressure value and the torque value; judging whether the target movement direction is consistent with the intention movement direction or not; if yes, controlling a horizontal movement mechanism and a lifting movement mechanism of the sitting and standing training robot to move in the target movement direction; and if not, controlling the horizontal movement mechanism and the lifting movementmechanism of the sitting and standing training robot to stop moving. According to the invention, one doctor can nurse multiple patients for training at the same time, so that the training efficiency is improved.

The invention belongs to the technical field of medical equipment, and particularly relates to a hand rehabilitation training device which comprises a hand dorsal extension and palmar flexion mechanism, a hand internal rotation and external rotation mechanism and a hand radial flexion and ulnar flexion mechanism. The hand dorsal extension and palmar flexion mechanism rotates at a limited angle on a horizontal plane, so that the training of two physiological actions of hand dorsal extension and palmar flexion is realized; the hand internal rotation and external rotation mechanism performs rotation movement at a limited angle on a vertical surface, so that two physiological actions of internal rotation and external rotation of the hand are trained; and the hand radial flexion and ulnar flexion mechanism performs pitching swing at a limited angle, so that training of two physiological actions of hand radial flexion and ulnar flexion is realized. According to the invention, full-degree-of-freedom rehabilitation training of hand joints can be realized, and a patient can perform rehabilitation training in various comfortable postures at home.