Upper limb rehabilitation training device

Abstract

The invention discloses an upper limb rehabilitation training device, which relates to the technical field of medical instruments and comprises a workbench, a traction assembly and a support frame. The traction assembly comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a sliding block, the sliding block is movably arranged on the workbench, one end of the first connecting rod is fixedly connected with the sliding block, the other end of the first connecting rod is rotatably connected with the second connecting rod, and the fourth connecting rod is rotatably arranged on the workbench and rotatably connected with the third connecting rod. The second connecting rod is rotatably connected with the third connecting rod. The supporting frame is located at the joint of the second connecting rod and the third connecting rod and used for placing the affected limb of the patient. According to the upper limb rehabilitation training device, the supporting frame is dragged to move through the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod and the sliding block, diversification of movement tracks of the supporting frame can be achieved, upper limb movement of a human body can be simulated more accurately, the operation process is more stable, and safety and comfort of rehabilitation training are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an upper limb rehabilitation training device. Background Art

[0003] Existing upper limb rehabilitation training devices (such as MIT-MANUS rehabilitation training robot, NeReBot rehabilitation training robot, etc.) have the following defects:

[0004] Complex structure: It is usually driven by a multi-degree-of-freedom motor or rope traction, which is costly to manufacture and difficult to maintain;

[0005] Single motion trajectory: Traditional three-bar or four-bar mechanisms are difficult to accurately simulate the movement of human upper limbs;

[0006] Inconvenient operation: The support device needs additional fixation, and the traction mechanism is easily affected by the weight of the upper limbs, resulting in decreased movement accuracy.

[0007] Therefore, there are still shortcomings and deficiencies in the prior art. How to provide an upper limb rehabilitation training device with a simple structure, diverse motion trajectories and convenient operation is a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0008] The purpose of the present invention is to provide an upper limb rehabilitation training device, which solves the technical problems of the existing upper limb rehabilitation training device, such as complex structure, single motion trajectory and inconvenient operation.

[0009] To achieve the above object, the present invention provides an upper limb rehabilitation training device, comprising:

[0010] Workbench;

[0011] A traction assembly, the traction assembly comprising a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a slider, the slider being movably arranged on the workbench, one end of the first connecting rod being fixedly connected to the slider, and the other end being rotatably connected to the second connecting rod, the fourth connecting rod being rotatably arranged on the workbench, the fourth connecting rod being rotatably connected to the third connecting rod, and the second connecting rod being rotatably connected to the third connecting rod;

[0012] The support frame is located at the connection between the second connecting rod and the third connecting rod and is used for the patient to place the affected limb.

[0013] Preferably, a mounting block is fixedly provided on the top of the workbench, the mounting block is provided with a slide groove, and the sliding block is slidably connected to the slide groove.

[0014] Preferably, it also includes a first drive motor for outputting linear motion, wherein the first drive motor is installed on the workbench, and the output end of the first drive motor is connected to the slider.

[0015] Preferably, the workbench is equipped with a second drive motor for outputting rotational motion, and the output end of the second drive motor is connected to the fourth connecting rod.

[0016] Preferably, a support member is fixedly provided at the connection between the second connecting rod and the third connecting rod, a notch is provided on the side of the support member, and the support frame is fixedly provided at the notch of the support member.

[0017] Preferably, a gripping portion for the patient to hold is fixedly provided in the middle of the support member.

[0018] Preferably, a support wheel is further provided at the connection between the second connecting rod and the third connecting rod, and the support wheel is slidably provided on the workbench.

[0019] Preferably, it also includes an air bag for tightly wrapping the patient's hand after being inflated.

[0020] Preferably, a connecting seat is fixedly provided on the top of the sliding block, and one end of the first connecting rod away from the second connecting rod is fixed to the connecting seat by a fastener.

[0021] Preferably, the first connecting rod and the second connecting rod are rotatably connected via a pin, the second connecting rod and the third connecting rod are rotatably connected via a pin, and the third connecting rod and the fourth connecting rod are rotatably connected via a pin.

[0022] Compared with the above-mentioned background technology, the upper limb rehabilitation training device provided by the present invention has a simple structure. The support frame is arranged at the connection between the second connecting rod and the third connecting rod. The support frame is moved by pulling the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod and the slider. By changing the position of the support frame, the movement trajectory of the support frame can be diversified, and the upper limb movement of the human body can be simulated more accurately. Compared with the traditional three-bar traction mechanism and the four-bar traction mechanism, the moment of inertia is smaller, the operation process is smoother, the impact on the patient is reduced, and the safety and comfort of rehabilitation training are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0024] Figure 1A three-dimensional schematic diagram of an upper limb rehabilitation training device provided by an embodiment of the present invention;

[0025] Figure 2 A front view of the upper limb rehabilitation training device provided by an embodiment of the present invention;

[0026] Figure 3 A side view of an upper limb rehabilitation training device provided by an embodiment of the present invention;

[0027] Figure 4 This is a top view of the upper limb rehabilitation training device provided by an embodiment of the present invention.

[0028] Figures 1 to 4 The reference numerals in the accompanying drawings are: 10, workbench; 11, mounting block; 111, slide groove; 12, second drive motor; 20, traction assembly; 21, first connecting rod; 22, second connecting rod; 23, third connecting rod; 24, fourth connecting rod; 25, slider; 251, connecting seat; 30, support frame; 31, support member; 311, gripping portion; 32, support wheel. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0031] The present invention provides an upper limb rehabilitation training device, which is suitable for the rehabilitation training of the upper limb motor function of patients with cerebral stroke. By changing the position of the support frame 30 by the first connecting rod 21, the second connecting rod 22, the third connecting rod 23, the fourth connecting rod 24 and the slider 25, the movement trajectory of the support frame 30 can be diversified, and the upper limb movement of the human body can be simulated more accurately. The structure is simple and the operation is convenient.

[0032] Please refer to Figures 1 to 4 The upper limb rehabilitation training device provided by the present invention includes a workbench 10, a traction assembly 20 and a support frame 30.

[0033] The traction assembly 20 is used to tow the support frame 30 to move. The traction assembly 20 includes a first connecting rod 21, a second connecting rod 22, a third connecting rod 23, a fourth connecting rod 24 and a slider 25. The slider 25 is movably arranged on the workbench 10. One end of the first connecting rod 21 is fixedly connected to the slider 25, and the other end is rotatably connected to the second connecting rod 22. The fourth connecting rod 24 is rotatably arranged on the workbench 10. The fourth connecting rod 24 is rotatably connected to the third connecting rod 23, and the second connecting rod 22 is rotatably connected to the third connecting rod 23.

[0034] The support frame 30 is located at the connection between the second connecting rod 22 and the third connecting rod 23, and the support frame 30 is used for the patient to place the affected limb.

[0035] When in use, the patient's affected limb is placed on the support frame 30. As the slider 25 slides on the workbench 10, the first connecting rod 21 is driven to move, causing the second connecting rod 22 to rotate. As the fourth connecting rod 24 rotates, the third connecting rod 23 is driven to rotate, thereby driving the support frame 30 located at the connection between the second connecting rod 22 and the third connecting rod 23 to move, thereby achieving passive training of the wrist joint of the patient's affected limb.

[0036] With such arrangement, the support frame 30 is moved by traction of the first connecting rod 21, the second connecting rod 22, the third connecting rod 23, the fourth connecting rod 24 and the slider 25, thereby changing the position of the support frame 30 and achieving the diversification of the motion trajectory of the support frame 30, which can more accurately simulate the upper limb movement of the human body; compared with the traditional three-bar traction mechanism and the four-bar traction mechanism, the moment of inertia is smaller, the operation process is smoother, the impact on the patient is reduced, and the safety and comfort of rehabilitation training are improved.

[0037] Please refer to Figures 1 to 4 A mounting block 11 is fixedly provided on the top of the workbench 10. The mounting block 11 is in a long strip shape and is provided with a slide groove 111. The slider 25 is slidably connected to the slide groove 111. The slide groove 111 is arranged along the length direction of the mounting block 11. The slider 25 is correspondingly accommodated in the slide groove 111 and can slide along the slide groove 111.

[0038] Please refer to Figures 1 to 4 The upper limb rehabilitation training device provided by the present invention further includes a first drive motor for outputting linear motion, the first drive motor is installed on the workbench 10, and the output end of the first drive motor is connected to the slider 25. When the first drive motor is working, it outputs linear motion to drive the slider 25 to slide along the slide groove 111, so that the movement of the slider 25 drives the second connecting rod 22 to rotate under the action of the first connecting rod 21. In this embodiment, the first drive motor is a linear motor.

[0039] Please refer to Figures 1 to 4The workbench 10 is equipped with a second drive motor 12 for outputting rotational motion, and the output end of the second drive motor 12 is connected to the fourth connecting rod 24. Specifically, the second drive motor 12 is fixedly mounted on the workbench 10 through a motor mounting frame, and the output end of the second drive motor 12 can be connected to the fourth connecting rod 24 through a coupling or the like. When the second drive motor 12 is working, it outputs rotational motion, drives the fourth connecting rod 24 to rotate, and drives the third connecting rod 23 to rotate under the action of the fourth connecting rod 24. In this embodiment, the second drive motor 12 is a rotary motor.

[0040] Please refer to Figures 1 to 4 A support member 31 is fixedly provided at the connection between the second connecting rod 22 and the third connecting rod 23 . A notch is provided on the side of the support member 31 . The support frame 30 is fixedly provided at the notch of the support member 31 .

[0041] Please refer to Figures 1 to 4 A gripping portion 311 for the patient to hold is fixedly provided in the middle of the support member 31.

[0042] During rehabilitation training, the patient can place the forearm on the support frame 30, and the patient's fingers grasp the gripping portion 311. This arrangement ensures that the patient's forearm and hand will not suddenly separate during rehabilitation training. On the basis of ensuring the safety and reliability of rehabilitation training, the operation is also made more convenient.

[0043] Please refer to Figures 1 to 4 A supporting wheel 32 is further provided at the connection between the second connecting rod 22 and the third connecting rod 23 , and the supporting wheel 32 is slidably provided on the workbench 10 .

[0044] By providing the support wheel 32, when the patient's upper limbs are placed on the support frame 30 for rehabilitation training, the pressure applied by the patient's upper limbs to the second connecting rod 22 and the third connecting rod 23 can be transmitted to the workbench 10 through the support wheel 32. The support provided by the support wheel 32 reduces the deformation of the traction assembly 20, thereby ensuring the movement accuracy of the support frame 30 and extending the service life of the upper limb rehabilitation training device.

[0045] Optionally, the support wheel 32 has a built-in magnetorheological damper. By setting the magnetorheological damper, the sliding resistance of the support wheel 32 can be adjusted in real time to ensure the smoothness of movement and optimize the comfort of movement.

[0046] Please refer to Figures 1 to 4 The upper limb rehabilitation training device provided by the present invention also includes an air bag for tightly wrapping the patient's hand after being inflated. After the patient's forearm is placed on the support frame 30 and the patient's fingers grasp the gripping portion 311, the air bag is activated to tightly wrap the patient's hand, which can further prevent the patient's forearm and hand from suddenly separating during rehabilitation training, thereby ensuring stability and safety in use.

[0047] Please refer to Figures 1 to 4 A connecting seat 251 is fixedly provided on the top of the slider 25, and one end of the first connecting rod 21 away from the second connecting rod 22 is fixed to the connecting seat 251 by a fastener.

[0048] Optionally, the connection seat 251 is provided with a receiving cavity, and one end of the first connecting rod 21 away from the second connecting rod 22 is clamped in the receiving cavity of the connection seat 251 and fixed by a fastener, so as to realize the connection between the first connecting rod 21 and the connection seat 251. The fastener may be a fastening bolt, a fastening screw or a fixing pin, etc., which is not specifically limited.

[0049] Please refer to Figures 1 to 4 The first connecting rod 21 and the second connecting rod 22 are rotatably connected via a pin, the second connecting rod 22 and the third connecting rod 23 are rotatably connected via a pin, and the third connecting rod 23 and the fourth connecting rod 24 are rotatably connected via a pin.

[0050] Optionally, in some of the embodiments, an electromagnetic lock is provided at the connection between the support frame 30 and the traction assembly 20, which can be automatically locked in an emergency (such as power failure or overload) to prevent the patient's upper limbs from accidentally slipping off.

[0051] Optionally, in some of the embodiments, the upper limb rehabilitation training device is provided with a sensor module, which includes a pressure sensor and an acceleration sensor embedded in the support frame 30, and an electromyography sensor embedded in the airbag. The sensor module can monitor the patient's upper limb movement state, muscle activity and force application in real time.

[0052] Based on the data from the sensor module, the machine learning algorithm dynamically adjusts the traction, movement trajectory and training intensity to develop a personalized rehabilitation training plan. For example, according to the patient's muscle strength recovery, the passive training, power training and active resistance training modes are automatically switched.

[0053] The upper limb rehabilitation training device is also equipped with a wireless communication module, which allows doctors to remotely monitor and adjust training plans by uploading training data to the cloud platform, and generate rehabilitation progress reports.

[0054] Such a setting can dynamically respond to the patient's real-time rehabilitation training status, significantly improve the intelligence level of the upper limb rehabilitation training device, and realize the safety and personalization of the training process.

[0055] During rehabilitation training, patients can choose between passive training mode and active training mode according to actual conditions.

[0056] During passive training, the patient places his forearm on the support frame 30, and the patient's fingers grasp the gripping part 311. The first drive motor and the second drive motor 12 are in working state. The first drive motor drives the slider 25 to slide on the workbench 10, thereby rotating the second connecting rod 22 through the first connecting rod 21. The second drive motor 12 drives the fourth connecting rod 24 to rotate, and drives the third connecting rod 23 to rotate, so that the support frame 30 located at the connection between the second connecting rod 22 and the third connecting rod 23 moves to achieve passive training.

[0057] During active training, the patient's forearm is placed on the support frame 30, the patient's fingers grasp the gripping portion 311, the first drive motor and the second drive motor 12 stop working, and the patient moves the affected limb to complete the rehabilitation training movements, and the traction assembly 20 moves under the drive of the patient.

[0058] The upper limb rehabilitation training device provided by the present invention has a simple structure. By pulling the support frame 30 to move through the first connecting rod 21, the second connecting rod 22, the third connecting rod 23, the fourth connecting rod 24 and the slider 25, the position of the support frame 30 is changed, and the movement trajectory of the support frame 30 can be diversified, so as to more accurately simulate the upper limb movement of the human body. Compared with the traditional three-bar traction mechanism and the four-bar traction mechanism, the moment of inertia is smaller, the operation process is smoother, the impact on the patient is reduced, and the safety and comfort of rehabilitation training are improved.

[0059] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0060] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. An upper limb rehabilitation training device, characterized in that: include: Workbench (10); A traction assembly (20), the traction assembly (20) comprising a first connecting rod (21), a second connecting rod (22), a third connecting rod (23), a fourth connecting rod (24) and a slider (25), the slider (25) being movably arranged on the workbench (10), one end of the first connecting rod (21) being fixedly connected to the slider (25), and the other end being rotatably connected to the second connecting rod (22), the fourth connecting rod (24) being rotatably arranged on the workbench (10), the fourth connecting rod (24) being rotatably connected to the third connecting rod (23), and the second connecting rod (22) being rotatably connected to the third connecting rod (23); A support frame (30) is located at the connection between the second connecting rod (22) and the third connecting rod (23) and is used for placing the patient's affected limb.

2. The upper limb rehabilitation training device according to claim 1, characterized in that: A mounting block (11) is fixedly provided on the top of the workbench (10), the mounting block (11) is provided with a slide groove (111), and the sliding block (25) is slidably connected to the slide groove (111).

3. The upper limb rehabilitation training device according to claim 2, characterized in that: It also includes a first drive motor for outputting linear motion, wherein the first drive motor is mounted on the workbench (10), and an output end of the first drive motor is connected to the slider (25).

4. The upper limb rehabilitation training device according to claim 3, characterized in that: The workbench (10) is equipped with a second drive motor (12) for outputting rotational motion, and an output end of the second drive motor (12) is connected to the fourth connecting rod (24).

5. The upper limb rehabilitation training device according to any one of claims 1 to 4, characterized in that: A support member (31) is fixedly provided at the connection between the second connecting rod (22) and the third connecting rod (23), a notch is provided on the side of the support member (31), and the support frame (30) is fixedly provided at the notch of the support member (31).

6. The upper limb rehabilitation training device according to claim 5, characterized in that: A gripping portion (311) for a patient to grip is fixedly provided in the middle of the support member (31).

7. The upper limb rehabilitation training device according to claim 6, characterized in that: A supporting wheel (32) is also provided at the connection point between the second connecting rod (22) and the third connecting rod (23), and the supporting wheel (32) is slidably arranged on the workbench (10).

8. The upper limb rehabilitation training device according to claim 7, characterized in that: Also included is an air bag for tightly wrapping the patient's hand after being inflated.

9. The upper limb rehabilitation training device according to claim 1, characterized in that: A connecting seat (251) is fixedly provided on the top of the sliding block (25), and one end of the first connecting rod (21) away from the second connecting rod (22) is fixed to the connecting seat (251) via a fastener.

10. The upper limb rehabilitation training device according to claim 1, characterized in that: The first connecting rod (21) and the second connecting rod (22) are rotatably connected via a pin, the second connecting rod (22) and the third connecting rod (23) are rotatably connected via a pin, and the third connecting rod (23) and the fourth connecting rod (24) are rotatably connected via a pin.

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