Rapid rehabilitation AI assistive device for breast tumor patient

Abstract

The invention discloses a rapid rehabilitation AI assistive device for breast tumor patients, the rapid rehabilitation AI assistive device is configured to be a rehabilitation bed adaptive to different upper limb injury degrees and rehabilitation stage requirements, and the rapid rehabilitation AI assistive device comprises a bearing bed body, an upper limb fixing structure, an upper limb multi-mode monitoring assembly and a control system; the upper limb fixing structure is used for fixing upper limbs of a human body and comprises a thorax fixing module and an arm fixing module; the upper limb multi-mode monitoring assembly is of a modular split wearable structure and comprises a monitoring belt, an upper arm sleeve, a front arm sleeve and a glove. The control system is in communication connection with the bearing bed body, the upper limb fixing structure and the upper limb multi-mode monitoring assembly. According to the upper limb function rehabilitation training device, the precise, systematic and comprehensive upper limb function rehabilitation training can be realized by simulating the composite motion trail of the human shoulder joint in a multi-dimensional plane and combining with a force state coupling motion mode.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation aids for breast tumors, and specifically to an AI aid for the rapid rehabilitation of breast tumor patients. Background Art

[0002] Breast tumors are common breast diseases in women, including benign tumors and malignant tumors. Although most benign breast tumors do not endanger life, they may cause discomfort in the upper limbs, such as pain and poor blood circulation, affecting the quality of life of patients; malignant breast tumors, namely breast cancer, as one of the most common malignant tumors in women globally, have high incidence and mortality rates. Despite the continuous progress of medical technology and the increasing richness of early diagnosis and treatment methods for breast cancer, resulting in a significant improvement in the survival rate of patients, the treatment process, especially surgery, radiotherapy, and chemotherapy, often has varying degrees of impact on the upper limb function of patients, such as limited shoulder joint movement, upper limb edema, muscle atrophy, etc. These problems not only seriously affect the patient's self-care ability but also have a negative impact on the patient's mental health and social participation.

[0003] For patients with benign breast tumors, improving local blood circulation through upper limb function rehabilitation helps relieve discomfort symptoms and even shrink or eliminate tumors to a certain extent; for patients with malignant breast tumors, upper limb function rehabilitation is not only crucial for postoperative recovery but also for patients during radiotherapy and chemotherapy and those who are in the advanced stage and unable to undergo surgery to recover upper limb mobility.

[0004] Currently, the aids or devices specifically for upper limb rehabilitation on the market include the following:

[0005] 1) Publication No. CN117839173A discloses an upper limb rehabilitation training device. In this patent application, it includes a training platform and a training pointing component for the patient to hold. The training pointing component is connected to the training platform through a linkage mechanism. The linkage mechanism includes at least one linkage unit. The linkage unit includes a first link and a second link hinged together through a first hinge structure. The front end of the first link is connected to the training platform through a central rotating shaft. The training pointing component is arranged at the rear end of the second link. The upper limb rehabilitation training device also includes a second angle sensor for detecting the relative angle between the first link and the second link, and the upper limb rehabilitation training device also includes a first angle sensor for detecting the angle of the corresponding first link relative to the left-right direction. The present invention solves the technical problem in the prior art that it is easy to over-press the infrared touch screen or the infrared touch screen cannot sense the training pointing component because it is necessary to press the infrared touch screen to obtain the patient's training trajectory.

[0006] 2) Publication No. CN105726260A discloses a medical rehabilitation training device. In this patent application, it includes a movable base plate, a control cabinet, a column lifting column, an interchangeable upper limb rehabilitation mechanism, and an adjustable-height seat. The control cabinet and the column lifting column are fixedly arranged at the upper part of the rear end of the movable base plate. The lower part of the column lifting column is fixedly arranged in the control cabinet. The interchangeable upper limb rehabilitation mechanism is movably fixed at the top of the column lifting column. The interchangeable upper limb rehabilitation mechanism sequentially includes a shoulder joint adduction-abduction mechanism, a shoulder joint flexion-extension mechanism, a shoulder joint internal rotation-external rotation mechanism, an elbow joint flexion-extension mechanism, a forearm internal rotation-external rotation mechanism, and a wrist and finger joint extension mechanism according to the connection sequence. The interchangeable upper limb rehabilitation robot of the present invention has comprehensive functions, adjustable component lengths, strong adaptability, can be used for left and right hand interchange training, and provides active assistance, reducing the input of medical staff.

[0007] 3) Publication No. CN106580581A discloses a rehabilitation training bed for upper limb training. In this patent application, it includes a bed body; at least one side of the bed body is provided with an upper limb training system; the upper limb training system includes: an upper limb trainer and an upper limb trainer position adjustment mechanism. The upper limb trainer position adjustment mechanism is installed on the side of the bed body, and the upper limb trainer is sleeved with one end of the upper limb trainer position adjustment mechanism. This solution can solve problems such as the single training mode, large volume, and large space occupation of existing rehabilitation training beds.

[0008] However, the above existing technologies still have the following problems when applied:

[0009] Insufficient adaptation of training mode to personalized needs:

[0010] Existing devices such as the upper limb rehabilitation training device with Publication No. CN117839173A, although detecting the movement angle of the connecting rod through an angle sensor, have a relatively fixed training mode and are difficult to make precise personalized adjustments according to the specific conditions, physical conditions, and rehabilitation stages of different patients. For example, for patients with osteoporosis and patients with severe upper limb injuries caused by work-related injuries, their upper limb motor abilities, muscle strengths, and rehabilitation goals are quite different, but the device may not be able to provide completely suitable training programs for these two types of patients.

[0011] Different patients have different upper limb injury sites and degrees of functional impairment, and diverse training modes are needed. Although the rehabilitation training bed with Publication No. CN106580581A is provided with an upper limb training system, the training mode may still be relatively single and unable to meet the diverse needs of patients from simple joint activities to complex functional training. For example, for patients who need fine movement training, the device may not be able to provide a sufficiently fine training mode.

[0012] Improvement of rehabilitation effect evaluation and feedback mechanism:

[0013] Most existing devices focus on monitoring the movement trajectory and joint angles, with relatively single evaluation indicators. Taking the published patent number CN117839173A as an example, only the angle sensor is used to detect the included angle of the connecting rod, and it is impossible to comprehensively evaluate the rehabilitation effect of patients, such as the recovery of muscle strength and joint stability. This makes it difficult for doctors to accurately judge the rehabilitation progress of patients based on the evaluation results of the device, and thus unable to adjust the rehabilitation plan in a timely manner.

[0014] Some devices have problems in feedback. For example, the rehabilitation training bed with the published patent number CN106580581A may not be able to provide real-time and accurate feedback on the patient's training situation. When abnormalities occur during the patient's training, such as uneven force application and joint pain, the device may not be able to issue an alarm in a timely manner or provide effective feedback information, affecting the rehabilitation effect and safety.

[0015] Safety guarantee measures and intelligence are not comprehensive enough:

[0016] Existing devices often focus on single-aspect safety issues such as preventing equipment failures or motion overlimit in terms of safety guarantee, lacking multi-dimensional safety protection. For example, the upper limb rehabilitation training device with the published patent number CN117839173A mainly focuses on the motion detection of the connecting rod mechanism, and lacks effective preventive and protective measures for other safety risks such as muscle strains and joint dislocations that may occur during the patient's training.

[0017] Most existing devices lack intelligent functions and cannot automatically adjust the training plan according to the patient's training data. For example, the medical rehabilitation training equipment with the published patent number CN105726260A, although having comprehensive functions, requires medical staff to manually adjust the equipment parameters and training modes, and cannot achieve intelligent adaptive training, increasing the workload of medical staff. Summary of the Invention

[0018] The purpose of the present invention is to provide a rapid rehabilitation AI assistive device for breast cancer patients. By precisely simulating the multi-dimensional composite movement trajectory of the shoulder joint, it can specifically stimulate the motor nerves and muscle tissues in all directions of the shoulder joint. For the problem of limited shoulder joint movement caused by factors such as surgery, radiotherapy, and chemotherapy in breast cancer patients, the present invention can gradually guide the joint to perform all-round activities, effectively increasing the range of joint movement.

[0019] To achieve the above purpose, the present invention provides the following technical solution: A rapid rehabilitation AI assistive device for breast cancer patients, the rapid rehabilitation AI assistive device is configured as a rehabilitation bed adapted to the rehabilitation needs of different upper limb injury degrees and rehabilitation stages. The rapid rehabilitation AI assistive device includes a supporting bed body, an upper limb fixing structure, an upper limb multi-modal monitoring component, and a control system, wherein:

[0020] The supporting bed body is arranged in three sections and respectively adapts to the upper limbs, torso and lower limbs of the human body. Each supporting bed body includes a bed surface and a supporting frame supported under the bed surface;

[0021] The upper limb fixing structure is used to fix the upper limbs of the human body. The upper limb fixing structure includes a thoracic cavity fixing module and an arm fixing module. The thoracic cavity fixing module is arranged on the supporting bed body adapted to the upper limbs. The thoracic cavity fixing module is a bionic curved nylon strap, which is locked and limited by a ratchet. An air-permeable memory foam cushion is arranged on the inner side of the bionic curved nylon strap;

[0022] The upper limb multi-modal monitoring component is a modular split wearable structure. The upper limb multi-modal monitoring component includes a monitoring belt, an upper arm sleeve, a forearm sleeve and gloves;

[0023] The control system is communicatively connected to the supporting bed body, the upper limb fixing structure and the upper limb multi-modal monitoring component. The control system is a central architecture with multi-level intelligent decision-making and precise regulation capabilities.

[0024] Preferably, the bed surface is composed of a surface layer and a pressure buffer layer connected in a composite manner. A graphene heat conduction film and a negative ion release layer are arranged on the surface layer. The graphene heat conduction film can achieve rapid and uniform heat conduction, provide a suitable temperature environment for patients, promote blood circulation and relieve muscle tension; the negative ion release layer can release beneficial negative ions, purify the air, improve the breathing environment of patients, help relax the body and mind, and enhance the comfort and effect of rehabilitation training.

[0025] Preferably, the pressure buffer layer is a sandwich structure. The pressure buffer layer has a top layer, a middle layer and a bottom layer connected in a laminated manner. The top layer is a phase change temperature control gel layer that fits the physiological curvature of the upper limbs, the middle layer is a gradient density support layer that disperses the pressure of the scapula and thoracic cavity, and the bottom layer is a dynamic responsive pneumatic unit array. A support substrate is arranged on the lower side of the bottom layer of the bed surface. The pressure buffer layer can better disperse pressure and reduce local compression. At the same time, its phase change characteristics can adjust the soft hardness with temperature changes, providing more comfortable support for patients. The middle layer gradient density support layer can specifically disperse the pressure of the scapula and thoracic cavity, avoiding discomfort or injury caused by excessive local pressure, while the bottom layer dynamic responsive pneumatic unit array can synchronously adapt to the dynamic load changes during upper limb movement and adjust the support force in real time, providing dynamic and personalized support for rehabilitation training.

[0026] Preferably, the support frame is arranged on the lower side of the supporting bed body. The support frame includes a bottom bracket, an X-shaped cross lifting arm, a lifting rod, a top frame and an upper limb posture adjusting structure. Rollers are arranged on the bottom side of the bottom bracket. An X-shaped cross lifting arm is hinged on the bottom bracket. A first lead screw is hinged in the middle of one side end of the X-shaped cross lifting arm, and the shaft end of the first lead screw is driven by a first motor. By driving the first lead screw to rotate by the first motor, the X-shaped cross lifting arm is driven to perform a lifting motion, so as to accurately adjust the height of the bed body. In addition, the X-shaped cross arm structure enhances the load-bearing capacity (maximum load 150 kg) and stability.

[0027] Preferably, a bracket is installed at the upper end of the X-shaped cross lifting arm, and lifting rods are arranged at intervals on both sides of the bracket. The upper ends of multiple lifting rods are connected to the top frame.

[0028] Preferably, the upper limb posture adjusting structure is installed inside the top frame. The upper limb posture adjusting structure is used to adjust and adapt to the tilt angle of the supporting bed body for the human upper limb. The upper limb posture adjusting structure includes a second lead screw, a second motor and a posture adjusting arm. The second lead screw is rotatably installed inside the top frame. The rear side of the shaft end of the second lead screw is connected to the second motor, and the front side of the shaft end of the second lead screw is hinged to the posture adjusting arm. The upper end of the posture adjusting arm is hinged to the bottom of the supporting bed body suitable for the human upper limb. The upper limb posture adjusting structure can realize the adjustment of the elevation angle from -15 degrees to 75 degrees and the lateral tilt of ±20 degrees, providing more abundant rehabilitation training posture options for patients.

[0029] Preferably, the arm fixing module is used to fix the arm and drive the arm to move in the shoulder flexion / extension, abduction / adduction, external rotation / internal rotation modes. The arm fixing module includes a first servo motor, a second servo motor, an arm support and a palm support. The first servo motor is a 360-degree servo motor, and the shaft end of the first servo motor is connected to the second servo motor. The arm support is installed at the shaft end of the second servo motor. The first servo motor uses a 360-degree servo motor, which has a larger rotation range compared with ordinary servo motors and can provide a wider space for the movement of the arm.

[0030] Preferably, the arm support includes a first-section arm support, a middle-section arm support and a tail-section arm support that are hinged at the head and tail. Straps are arranged outside the first-section arm support, the middle-section arm support and the tail-section arm support. The palm support is installed at the rear end of the tail-section arm support; the palm support is an adjustable palm support suitable for different palm widths / finger lengths.

[0031] Preferably, the strap is a double-layer structure of inner and outer layers. The outer layer of the strap is a highly breathable antibacterial elastic band, and a pressure sensing patch array is arranged on the inner layer of the strap. The pressure sensing patch array is used to realize the monitoring of muscle group activity and the early warning of joint dislocation threshold. The strap adopts a double-layer structure of inner and outer layers, and the outer layer is a highly breathable antibacterial elastic band, which has good breathability and antibacterial properties. During the rehabilitation training process, the arm is prone to sweating. The highly breathable antibacterial elastic band can effectively discharge sweat, reduce the growth of bacteria, keep the arm dry and hygienic, and improve the use experience of patients.

[0032] Preferably, the monitoring belt is a biomechanical monitoring belt for the cervical spine and chest cavity. An intelligent electromyogram sensing layer is provided on the inner side of the upper arm sleeve, and a fiber optic strain sensor is provided on the inner side of the forearm sleeve. The glove is a monitoring glove with built-in three-dimensional hand pressure analysis. The electromyogram sensing layer can feedback the monitored electromyogram data to doctors and patients in real time. Patients can adjust their movements and force application methods according to the feedback information to improve the training effect. At the same time, doctors can also dynamically adjust the rehabilitation plan based on these data to make the rehabilitation training more in line with the actual needs of patients. The fiber optic strain sensor has the characteristics of high precision, high sensitivity and strong anti-interference ability, and can reflect the mechanical changes of the forearm bones, muscles and soft tissues in real time and accurately. For example, during forearm rehabilitation training, the fiber optic strain sensor can monitor the strain distribution of the forearm during movements such as bending and stretching, providing an important basis for evaluating the rehabilitation effect and adjusting the training plan. Through the fine monitoring of the mechanical changes in the forearm, the fiber optic strain sensor can timely detect abnormal strain conditions in the forearm, such as excessive stress concentration or strain mutation, etc., and thus issue an injury warning. This helps doctors take intervention measures in advance to avoid injuries to the forearm caused by excessive load or improper movement, and ensure the safety of rehabilitation training.

[0033] Preferably, the control system can respond to the needs of different upper limb injuries and rehabilitation stages in real time. Based on the real-time data feedback by the upper limb multi-modal monitoring component, the control system quickly plans the rehabilitation movement trajectory at the main control layer, completes complex operations through the co-processing layer to ensure movement stability, and then optimizes the movement parameters through the AI acceleration layer to achieve precise control of the rehabilitation training.

[0034] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0035] 1. By precisely simulating the multi-dimensional composite movement trajectory of the shoulder joint, the present invention can specifically stimulate the motor nerves and muscle tissues in all directions of the shoulder joint. For the problem of limited shoulder joint movement caused by factors such as surgery, radiotherapy and chemotherapy in breast cancer patients, the present invention can gradually guide the joint to perform all-round activities, effectively increasing the range of joint movement. In addition, the auxiliary device of the present invention can synchronously activate the upper limb muscle group and the thoracic cavity core area, while effectively enhancing the shoulder joint mobility and significantly improving the chronic pain symptoms of the cervical spine and upper limbs, promoting blood circulation in the thoracic cavity and upper limbs, and accelerating the metabolic process, providing an efficient, safe and scientific solution for the upper limb rehabilitation treatment of breast cancer patients.

[0036] 2. Through the intelligent control system, the present invention can accurately adjust the parameters of the rehabilitation training, such as movement speed, amplitude, strength, etc., according to the specific injury conditions, physical conditions and rehabilitation stages of patients.

[0037] 3. By integrating a variety of high-precision sensors, the present invention can monitor various physiological indicators of patients in the process of rehabilitation training in real time, such as electromyographic signals, joint angles, movement trajectories, etc., and timely feedback these data to the intelligent control system. According to the feedback information, the system can dynamically adjust the training parameters and modes to adapt to the changes in the patient's physical state. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic structural diagram of the supporting bed body and the upper limb fixing structure in Embodiment 1 of the present invention;

[0039] Figure 2 It is a schematic structural diagram of the bed surface in Embodiment 1 of the present invention;

[0040] Figure 3 It is a partial structural schematic diagram of the support frame in Embodiment 1 of the present invention Figure 1 ;

[0041] Figure 4 It is a partial structural schematic diagram of the support frame in Embodiment 1 of the present invention Figure 2 ;

[0042] Figure 5 It is a schematic structural diagram of the arm fixing module in Embodiment 1 of the present invention;

[0043] Figure 6 It is a schematic structural diagram of the upper limb multimodal monitoring component and the shoulder support area in Embodiment 2 of the present invention.

[0044] In the figure:

[0045] 1. Supporting bed body; 11. Bed surface; 111. Surface layer; 112. Phase change temperature control gel layer; 113. Gradient density support layer; 114. Dynamic responsive pneumatic unit array; 115. Shoulder support area; 12. Support frame; 121. Bottom bracket; 122. X-shaped cross lifting arm; 123. Lifting rod; 124. Top frame; 125. Second lead screw; 126. Pose adjustment arm;

[0046] 2. Upper limb fixing structure; 21. Thoracic cavity fixing module; 22. Arm fixing module; 221. First servo; 222. Second servo; 223. Arm support; 224. Palm support;

[0047] 3. Upper limb multimodal monitoring component; 31. Monitoring belt; 32. Upper arm sleeve; 33. Forearm sleeve; 34. Glove. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0049] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "vertical", "upper", "lower", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0050] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0051] Embodiment 1: Please refer to Figure 1 , the present invention provides a technical solution: a rapid rehabilitation AI assistive device for breast cancer patients. The rapid rehabilitation AI assistive device is configured as a rehabilitation bed adapted to the needs of different upper limb injury degrees and rehabilitation stages. The rapid rehabilitation AI assistive device includes a supporting bed body 1, an upper limb fixing structure 2 and a control system.

[0052] Please refer to Figure 2, in this embodiment, the supporting bed body 1 is provided in three sections and respectively adapts to the upper limbs, torso and lower limbs of the human body. Each supporting bed body 1 includes a bed surface 11 and a supporting frame 12 supported on the lower side of the bed surface 11. The bed surface 11 is composed of a surface layer 111 and a pressure buffer layer connected in a composite manner. A graphene heat conduction film and a negative ion release layer are provided on the surface layer 111. The graphene heat conduction film can achieve fast and uniform heat conduction, provide a suitable temperature environment for patients, promote blood circulation and relieve muscle tension; the negative ion release layer can release beneficial negative ions, purify the air, improve the breathing environment of patients, help relax the body and mind, and enhance the comfort and effect of rehabilitation training. The pressure buffer layer is a sandwich structure, and the pressure buffer layer has a top layer, a middle layer and a bottom layer connected in a stacked manner. The top layer is a phase change temperature control gel layer 112 that fits the physiological curvature of the upper limbs, the middle layer is a gradient density support layer 113 that disperses the pressure of the scapula and chest cavity, and the bottom layer is a dynamic responsive pneumatic unit array 114. The pressure buffer layer can better disperse the pressure, reduce the local compression feeling, and at the same time its phase change characteristics can adjust the soft hardness with the change of temperature, providing a more comfortable support for patients.

[0053] Please refer to Figure 3 , Figure 4 , in this embodiment, a support substrate is provided on the lower side of the bottom layer of the bed surface 11; the support frame 12 is arranged on the lower side of the supporting bed body 1. The support frame 12 includes a bottom bracket 121, an X-shaped cross lifting arm 122, a lifting rod 123, a top frame 124 and an upper limb pose adjustment structure. Wheels are provided on the bottom side of the bottom bracket 121, and an X-shaped cross lifting arm 122 is hinged on the bottom bracket 121. A first lead screw is hinged in the middle of one side end of the X-shaped cross lifting arm 122, and the shaft end of the first lead screw is driven by a first motor; a bracket is installed at the upper end of the X-shaped cross lifting arm 122, and lifting rods 123 are distributed at intervals on both sides of the bracket. The upper ends of multiple lifting rods 123 are connected to the top frame 124; the upper limb pose adjustment structure is installed inside the top frame 124 and is used to adjust the tilt angle of the supporting bed body 1 for adapting to the upper limbs of the human body. The upper limb pose adjustment structure includes a second lead screw 125, a second motor and a pose adjustment arm 126. The second lead screw 125 is rotatably installed inside the top frame 124, the rear side of the shaft end of the second lead screw 125 is connected to the second motor, and the front side of the shaft end of the second lead screw 125 is hinged to the pose adjustment arm 126. The upper end of the pose adjustment arm 126 is hinged to the bottom of the supporting bed body 1 that adapts to the upper limbs of the human body. The upper limb pose adjustment structure can realize the adjustment of the elevation angle from -15 degrees to 75 degrees and the lateral tilt of ±20 degrees, providing a richer choice of rehabilitation training postures for patients. The wide range of elevation angle adjustment can simulate the upper limb states of the human body in different postures, such as lying flat, semi-reclining, sitting up, etc., to meet the needs of different rehabilitation stages.

[0054] Please refer to Figure 1 , Figure 5, in this embodiment, the upper limb fixation structure 2 is used to fix the human upper limb. The upper limb fixation structure 2 includes a thoracic cavity fixation module 21 and an arm fixation module 22. Among them, the thoracic cavity fixation module 21 is arranged on the supporting bed body 1 adapted to the upper limb. The thoracic cavity fixation module 21 is a bionic curved nylon strap, which is locked and limited by a ratchet. An air-permeable memory foam pad is arranged on the inner side of the bionic curved nylon strap; the arm fixation module 22 is used to fix the arm and drive the arm to move in the shoulder flexion / extension, abduction / adduction, external rotation / internal rotation modes. The arm fixation module 22 includes a first servo 221, a second servo 222, an arm support 223 and a palm support 224. Among them, the first servo 221 is a 360-degree servo, and the shaft end of the first servo 221 is connected to the second servo 222, and the shaft end of the second servo 222 is installed with the arm support 223. Through the cooperation of the first servo 221 and the second servo 222, the arm fixation module 22 can drive the arm to move in various modes such as shoulder flexion / extension, abduction / adduction, external rotation / internal rotation, more truly restoring the natural movement track of the arm. For example, during shoulder flexion / extension training, it can simulate the actions of raising and lowering the arm, which helps to enhance the strength of the shoulder muscles and the range of joint motion; abduction / adduction training can exercise the lateral movement ability of the shoulder and improve the coordination of the arm. Different rehabilitation stages and patient conditions require different movement modes to stimulate the muscles and joints of the arm. The multi-mode movement driving function of this embodiment can be adjusted individually according to the specific situation of the patient, providing more choices and flexibility for rehabilitation treatment and helping to improve the rehabilitation effect.

[0055] In this embodiment, the arm support 223 includes a first-segment arm support, a middle-segment arm support 223, and a tail-segment arm support that are hinged at the head and tail. Straps are arranged outside the first-segment arm support, the middle-segment arm support 223, and the tail-segment arm support. The palm support 224 is installed at the rear end of the tail-segment arm support 223; the palm support 224 is an adjustable palm support 224 adapted to different palm widths / finger lengths. The arm support 223 adopts the structure of a first-segment arm support, a middle-segment arm support 223, and a tail-segment arm support that are hinged at the head and tail. This segmented design can be flexibly adjusted according to the shape and length of the patient's arm, better fitting the arm curve and providing comfortable support. The palm support 224 is designed as an adjustable palm support 224 adapted to different palm widths / finger lengths, which can meet the personalized needs of different patients' palm sizes, ensure the stability of the arm during fixation and movement, and reduce the risk of secondary injury caused by inappropriate support.

[0056] In this embodiment, the strap has a double-layer structure, with the outer layer being a highly breathable antibacterial elastic band, and a pressure sensing patch array is arranged on the inner layer of the strap. The pressure sensing patch array is used to monitor the muscle group activity and warn of the joint dislocation threshold. The pressure sensing patch array arranged on the inner layer of the strap has the functions of monitoring the muscle group activity and warning of the joint dislocation threshold. By real-time monitoring of the pressure changes in the arm muscles, the activity of the muscle groups can be understood, providing a basis for adjusting the rehabilitation training plan. At the same time, when the pressure on the joint exceeds the safety threshold, a warning can be issued in a timely manner to avoid injuries such as joint dislocation caused by excessive exercise, ensuring the safety of the rehabilitation training.

[0057] In this embodiment, the control system is communicatively connected to the support bed body 1 and the upper limb fixing structure 2. The control system adopts a three-level heterogeneous computing architecture to achieve efficient data processing and motion control: the main control layer realizes real-time trajectory planning at the 1kHz level and issues motion control instructions through a dual-core ARM Cortex-R52; the co-processing layer is executed by an FPGA to perform complex operations such as gravity compensation and myoelectric feedforward control to ensure dynamic stability during the motion process; the AI acceleration layer relies on a high-performance GPU or a dedicated AI acceleration chip to run a CNN-LSTM hybrid model to dynamically optimize the upper limb three-plane composite motion parameters and achieve precise biomechanical adaptation.

[0058] Embodiment 2: Please refer to Figure 6 , the present invention provides a technical solution: a rapid rehabilitation AI assistive device for breast cancer patients. The rapid rehabilitation AI assistive device is configured as a rehabilitation bed adapted to the needs of different upper limb injury degrees and rehabilitation stages. The rapid rehabilitation AI assistive device includes a support bed body 1, an upper limb fixing structure 2, an upper limb multi-modal monitoring component 3, and a control system. The upper limb multi-modal monitoring component 3 has a modular split wearable structure. The upper limb multi-modal monitoring component 3 includes a monitoring belt 31, an upper arm sleeve 32, a forearm sleeve 33, and a glove 34. Among them, the monitoring belt 31 is a monitoring belt 31 for cervical and thoracic biomechanics, an intelligent myoelectric sensing layer is arranged on the inner side of the upper arm sleeve 32, a fiber optic strain sensor is arranged on the inner side of the forearm sleeve 33, and the glove 34 is a monitoring glove 34 with an internal three-dimensional hand pressure analysis.

[0059] Please refer to Figure 6, in this embodiment, a shoulder support area 115 corresponding to the human shoulder is provided on the supporting bed body 1 (upper limb). A telescopic rod is provided at the bottom of the shoulder support area 115, and the telescopic rod is installed on the bottom side of the supporting bed body 1 through a bracket. The shoulder support area 115 has an independent lifting stroke of ±15 cm and can dynamically follow the movement trajectory of the upper limb. When the patient is performing upper limb rehabilitation training, as the upper limb moves, the shoulder support area 115 can adjust the height in real time, providing continuous and appropriate support for the shoulder, and reducing the fatigue and injury risks caused by the lack of effective support for the shoulder. For example, when performing upper limb abduction training, the shoulder support area 115 can gradually rise as the upper limb abducts, maintaining good support for the shoulder.

[0060] In this embodiment, the control system is communicatively connected to the supporting bed body 1, the upper limb fixing structure 2, and the upper limb multi-modal monitoring component 3.

[0061] Combined with the above embodiments, when the present invention performs shoulder joint force state recovery, according to the movement functions of the shoulder joint in different anatomical planes, through specific servo drive and intelligent algorithm assistance, precise, safe and efficient rehabilitation training is achieved. The specific steps are as follows:

[0062] 1) Sagittal plane movement: The human shoulder joint mainly realizes shoulder flexion and shoulder extension movements in the sagittal plane. The present invention uses the first servo 221 and the second servo 222 to drive the upper arm (including the armrest 223 and the palm rest 224) in cooperation to precisely control the movement angle of the shoulder joint:

[0063] Shoulder flexion: It can achieve a movement range of 0 - 180 ± 0.1 degrees, meeting the diverse rehabilitation needs of shoulder flexion.

[0064] Shoulder extension: The movement range is 0 - 60 ± 0.1 degrees, assisting in the recovery of the shoulder joint's posterior extension function.

[0065] 2) Coronal plane movement: In the coronal plane, the shoulder joint mainly performs shoulder abduction and shoulder adduction movements. The first servo 221 and the second servo 222 cooperate to drive the upper arm to complete the following movements:

[0066] Shoulder abduction: The movement angle range is 0 - 180 ± 0.1 degrees, which helps to enhance the abduction ability of the shoulder joint.

[0067] Shoulder adduction: The movement range is 0 - 50 ± 0.1 degrees, promoting the recovery of the shoulder joint's adduction function.

[0068] 3) Horizontal plane movement: The shoulder joint can perform shoulder external rotation and shoulder internal rotation movements in the horizontal plane. The present invention realizes high-precision control through servo drive and intelligent algorithm:

[0069] Shoulder external rotation: The movement range is 0 - 90 ± 0.1 degrees, meeting the rehabilitation training requirements of shoulder external rotation.

[0070] Internal rotation of the shoulder: The range of motion is 0 - 90 ± 0.1 degrees, assisting in the recovery of the internal rotation function of the shoulder joint.

[0071] During the movement in the horizontal plane, the CNN-LSTM hybrid model is used to analyze the motion parameters, predict the stress distribution of the joint capsule, and dynamically adjust the PID parameters accordingly, effectively avoiding the occurrence of subacromial impingement and ensuring the safety of rehabilitation training.

[0072] To further improve the range of motion of the shoulder joint and upper limb blood circulation, this embodiment designs two coupled motion modes:

[0073] 4) Coupled motion mode one (inner arc):

[0074] Principle of action: The right hand performs the coupled action of shoulder flexion - shoulder external rotation - shoulder abduction, and at this time the relevant muscle groups shorten; the left hand performs the coupled action of shoulder extension - shoulder internal rotation - shoulder adduction, and at this time the corresponding muscle groups of shoulder flexion - shoulder external rotation - shoulder abduction of the left hand extend. The movement of the right hand generates extrusion, and the movement of the left hand relaxes. The left and right hands alternate to perform the inner arc circular motion.

[0075] Action process: The right arm sequentially performs the combined movement of flexion → external rotation → abduction, and the left arm synchronously performs the actions of extension → internal rotation → adduction. Through the dynamic phase difference compensation algorithm, the accurate synchronization of the movement trajectories of the two upper limbs is achieved, and the movement speed can be adaptively adjusted according to the actual situation.

[0076] Coupled motion mode two (outer arc):

[0077] Principle of action: The right hand performs the coupled action of shoulder flexion - shoulder internal rotation - shoulder adduction, and the relevant muscle groups shorten; the left hand performs the coupled action of shoulder extension - shoulder external rotation - shoulder abduction, and at this time the corresponding muscle groups of shoulder flexion - shoulder internal rotation - shoulder adduction of the left hand extend. The right hand extrudes and the left hand relaxes, and the left and right hands alternately complete the outer arc circular motion.

[0078] Action process: The right arm sequentially completes the actions of flexion → internal rotation → adduction, and the left arm synchronously performs the movement of extension → external rotation → abduction. With the help of the digital twin system, the joint contact force within 500 ms is predicted, and the stiffness of the magnetorheological damper is dynamically adjusted to ensure that the pressure of the acromioclavicular joint is always less than 50 N / cm 2 , ensuring the safety and effectiveness of rehabilitation training.

[0079] Through the above multi-dimensional and multi-mode shoulder joint force state recovery steps, the present invention can provide personalized and precise rehabilitation training programs for patients, effectively promoting the recovery of shoulder joint function.

[0080] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A rapid recovery AI assistive device for breast tumor patients. The rapid recovery AI assistive device is configured as a rehabilitation bed adapted to the needs of different upper limb injury degrees and rehabilitation stages. The rapid recovery AI assistive device includes a supporting bed body (1), an upper limb fixing structure (2), an upper limb multi-modal monitoring component (3) and a control system. It is characterized in that: The supporting bed body (1) is arranged in three sections and respectively adapts to the human upper limb, trunk and lower limb. Each supporting bed body (1) includes a bed surface (11) and a supporting frame (12) supported under the bed surface (11); The upper limb fixing structure (2) is used to fix the human upper limb. The upper limb fixing structure (2) includes a thoracic cavity fixing module (21) and an arm fixing module (22). Among them, the thoracic cavity fixing module (21) is arranged on the supporting bed body (1) adapted to the upper limb. The thoracic cavity fixing module (21) is a bionic curved nylon strap, which is locked and limited by a ratchet. An air-permeable memory cotton cushion is arranged inside the bionic curved nylon strap; The upper limb multi-modal monitoring component (3) is a modular split wearable structure. The upper limb multi-modal monitoring component (3) includes a monitoring belt (31), an upper arm sleeve (32), a forearm sleeve (33) and a glove (34); The control system is communicatively connected to the supporting bed body (1), the upper limb fixing structure (2) and the upper limb multi-modal monitoring component (3). The control system is a central architecture with multi-level intelligent decision-making and precise regulation capabilities.

2. The rapid recovery AI assistive device for breast tumor patients according to claim 1, wherein: The bed surface (11) is composed of a surface layer (111) and a pressure buffer layer connected in a composite manner. A graphene heat conduction film and a negative ion release layer are arranged on the surface layer (111). The pressure buffer layer is a sandwich structure, and the pressure buffer layer has a top layer, a middle layer and a bottom layer connected in a laminated manner. Among them, the top layer is a phase change temperature control gel layer (112) that fits the physiological curvature of the upper limb, the middle layer is a gradient density support layer (113) that disperses the pressure of the scapula and the thoracic cavity, and the bottom layer is a dynamic response pneumatic unit array (114). A support substrate is arranged on the lower side of the bottom layer of the bed surface (11).

3. The rapid recovery AI assistive device for breast tumor patients according to claim 1, characterized in that: The supporting frame (12) is arranged under the supporting bed body (1). The supporting frame (12) includes a bottom bracket (121), an X-shaped cross lifting arm (122), a lifting rod (123), a top frame (124) and an upper limb pose adjustment structure. Wheels are arranged on the bottom side of the bottom bracket (121). The X-shaped cross lifting arm (122) is hinged on the bottom bracket (121). One side end of the X-shaped cross lifting arm (122) is hinged to a first lead screw, and the shaft end of the first lead screw is driven by a first motor.

4. The rapid recovery AI assistive device for breast tumor patients according to claim 3, characterized in that: A bracket is installed at the upper end of the X-shaped cross lifting arm (122). Lifting rods (123) are arranged at intervals on both sides of the bracket. The upper ends of multiple lifting rods (123) are connected to the top frame (124).

5. The rapid recovery AI assistive device for breast tumor patients according to claim 3, wherein: The upper limb posture adjustment structure is installed inside the top frame (124). The upper limb posture adjustment structure is used to adjust and adapt to the tilt angle of the body support bed (1) for the human upper limb. The upper limb posture adjustment structure includes a second lead screw (125), a second motor, and a posture adjustment arm (126). The second lead screw (125) is rotatably installed inside the top frame (124). The rear side of the shaft end of the second lead screw (125) is connected to the second motor, and the front side of the shaft end of the second lead screw (125) is hinged to the posture adjustment arm (126). The upper end of the posture adjustment arm (126) is hinged to the bottom of the body support bed (1) that adapts to the human upper limb.

6. The rapid recovery AI assistive device for breast tumor patients according to claim 1, wherein: The arm fixing module (22) is used to fix the arm and drive the arm to move in the shoulder flexion / extension, abduction / adduction, external rotation / internal rotation modes. The arm fixing module (22) includes a first servo motor (221), a second servo motor (222), an arm support (223), and a palm support (224). Among them, the first servo motor (221) is a 360-degree servo motor. The shaft end of the first servo motor (221) is connected to the second servo motor (222), and the arm support (223) is installed at the shaft end of the second servo motor (222).

7. The rapid recovery AI assistive device for breast tumor patients according to claim 6, characterized in that: The arm support (223) includes a first-stage arm support, a middle-stage arm support (223), and a tail-stage arm support (223) that are hinged at the head and tail. Straps are provided outside the first-stage arm support, the middle-stage arm support (223), and the tail-stage arm support (223). The palm support (224) is installed at the rear end of the tail-stage arm support (223); the palm support (224) is an adjustable palm support (224) that adapts to different palm widths / finger lengths.

8. An AI assistive device for the rapid recovery of breast tumor patients according to claim 1, characterized in that: The strap is a double-layer structure of inner and outer layers. The outer layer of the strap is a highly breathable antibacterial elastic band, and a pressure sensing patch array is arranged on the inner layer of the strap. The pressure sensing patch array is used to realize the monitoring of muscle group activity and the early warning of joint dislocation threshold.

9. The rapid recovery AI assistive device for breast tumor patients according to claim 1, wherein: The monitoring belt (31) is a monitoring belt (31) for cervical vertebra and thoracic cavity biomechanics. An intelligent electromyogram sensing layer is arranged inside the upper arm sleeve (32), and optical fiber strain sensing is arranged inside the forearm sleeve (33). The glove (34) is a monitoring glove (34) with an internal three-dimensional hand pressure analysis.

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