Joint rehabilitation bicycle and joint rehabilitation method

Abstract

The invention relates to the technical field of joint rehabilitation, in particular to a joint rehabilitation bicycle and a joint rehabilitation method.The joint rehabilitation bicycle comprises a frame; a handlebar; a stool; two groups of crank assemblies; a touch screen; the power device and the active feedback system are arranged on the frame, the control system comprises a data acquisition system, a cloud platform and a controller, and the touch screen, the power device, the active feedback system, the data acquisition system, the cloud platform, the crank assembly and the seat are in communication connection with the controller. In the training process of a patient, the patient can collect and mark pain data of the patient through the active feedback system and gradually adjust parameters of the power device and setting parameters of the bicycle, the progressive principle can be followed, the operation difficulty of the bicycle and dependence on medical staff are reduced, and the patient can bear pain but achieve a high rehabilitation effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of joint rehabilitation, and more particularly, to a joint rehabilitation bicycle and a joint rehabilitation method. BACKGROUND

[0002] Knee Osteoarthritis (KOA) is a common multifactorial chronic degenerative joint disease, characterized by joint stiffness, pain and decreased knee function. As the disease progresses to the late stage, patients will have severe pain, dysfunction and significant structural joint damage. KOA has a great impact on the activities of daily living (ADL) and quality of life of the elderly.

[0003] At present, Total Knee Arthroplasty (TKA) is the only effective surgical intervention for the treatment of end-stage KOA, which can effectively relieve severe knee pain and limited activity, and replace the damaged knee joint surface with an implant to restore normal joint function, so as to achieve functional knee range of motion, which will significantly improve the patient's quality of life. Although TKA is an effective and relatively mature and safe surgery, some early postoperative complications and lack of effective functional rehabilitation exercises may hinder the achievement of these goals, including surgical site infection and postoperative knee flexion range of motion limitation, which can lead to poor prognosis and dissatisfaction of patients, and may also cause postoperative joint stiffness or prosthesis loosening and the need for revision TKA. One important aspect of receiving total knee arthroplasty is postoperative rehabilitation. In general, the purpose of rehabilitation is to restore knee function as much as possible. The recovery of postoperative knee function will affect the health and medical expenditure of patients, and for patients who have difficulty in recovering knee function, they must be discovered as soon as possible and given more rehabilitation treatment and help.

[0004] TKA can effectively relieve pain, correct deformity and improve joint function, so that some patients can participate in sports activities. Due to the different lifestyles of patients, the goals and expectations of patients receiving TKA surgery after surgery are also different. Regular exercise also has a positive effect on the rehabilitation after total joint replacement, such as improving bone density and increasing the stability of the implant. Therefore, most studies suggest that low-impact exercises such as swimming, walking, cycling, bowling, sailing, diving and golf should be performed after total joint replacement, and high-impact exercises such as running, basketball, football and squash are not recommended. High-impact exercises may increase the risk of prosthesis wear, dislocation and periprosthetic fractures.

[0005] Rehabilitation exercises after TKA have an important influence on the outcome of the surgery, and standardized, scientific, and long-term rehabilitation exercises are the key to reducing postoperative complications, improving knee stability, and restoring knee function. Stationary cycling is another low-impact exercise, and the knee moments induced by cycling are small compared with other exercises or normal activities such as walking and stair climbing. Studies have shown that by quantifying the lower extremity joint and muscle loads induced by cycling on a cycle ergometer, it was found that the load moments acting on the bilateral hip, knee, and ankle axes were generally lower than those during normal walking. The hip and knee flexion were greater than during walking, while the ankle movement pattern was similar to that during walking. The varus and valgus moments acting on the anterior and posterior axes of the knee were approximately the same as those during walking. The degree of activity of the lower extremity muscles during cycling was similar to that during walking, with three major exceptions: the activity of the vastus medialis and vastus lateralis was greater during cycling than during walking, while the activation of the tibialis anterior was lower. Increasing the pedaling rate increased the activity of most muscles, but generally did not change joint loading. It is worth noting that lower extremity kinematics are significantly affected by saddle height. For example, by adjusting the saddle height, the range of motion of the hip, knee, and ankle can be increased. Increasing the saddle height allows for greater plantar flexion, thereby enhancing the training effect of specific muscle groups. Cycling can restore most of the range of motion (ROM) of the knee joint.

[0006] Stationary cycling pedals provide resistance to exercise the lower extremity muscle strength, and a complete cycling motion at an appropriate saddle height requires at least 100° of knee flexion. According to gait analysis and biomechanical studies, patients need at least 83° of flexion to go up stairs, 90°-100° to go down stairs, 93°-105° to stand up from a standard or short chair, and more than 115° to squat or kneel. Therefore, after exercising with a stationary bicycle, the knee function can basically meet the ADL of the knee function. Many studies have reported the relationship between knee kinematics and joint moments during stationary cycling in healthy volunteers and rehabilitation applications, but few studies have reported the knee loads during cycling in TKA patients. Studies have found that increasing the power of the bicycle increases the knee extension moment (KEM) and the knee abduction moment (KAbM), which has been used as a surrogate variable for the medial compartment knee load during walking and cycling.

[0007] In clinical practice, for patients after TKA, due to the replacement of the prosthesis, the joint nerve control is faced with obstacles, and the postoperative exudation, swelling, pain, muscle stiffness, low muscle strength, and narrow joint range of motion all need to be recovered and improved through certain training means. For example, pressing a certain weight (rice bag), manually assisting the patient to move the knee joint, continuous passive motion (CPM), and walking slowly on the ground, etc. The knee joint range of motion is gradually increased in the case of tolerable pain to achieve the purpose of rehabilitation. However, the method of pressing the weight has strong pain; manually assisting the patient to move the joint needs manpower and is low in efficiency; CPM can only set a fixed angle, and the movement mode is quite different from the real life scene.

[0008] Suitable bicycle settings, such as the combination setting of parameters such as seat height, crank length, handlebar height, etc., need to be adjusted according to the specific situation of the patient to enable the patient to complete the specified cycling rehabilitation training with the least pain. At the same time, the bicycle settings are gradually adjusted to enable the patient to break through the original range of motion and achieve new rehabilitation effects while tolerating a certain amount of pain. The existing power bicycle has the following problems: 1. The hardware does not support simultaneous adjustment of these bicycle setting parameters, and even if it supports the corresponding function, it leads to a complex and large device that is difficult to use frequently; 2. The corresponding setting logic is relatively professional, and ordinary doctors or patients themselves do not know how to set it. At the same time, the user's pain sensation cannot be fed back to the training device, so the gradual training process is often disconnected from the device and relies heavily on the guidance of professional personnel. SUMMARY

[0009] The purpose of the present application is to overcome the shortcomings of the prior art and provide a joint rehabilitation bicycle and a joint rehabilitation method that can follow the principle of gradual progress, reduce the operation difficulty and dependence on medical personnel, and enable patients to tolerate pain but achieve higher rehabilitation effects.

[0010] To solve the above technical problems, the technical scheme adopted by the present application is: A joint rehabilitation device is provided, comprising: a frame; a handlebar, which is adjustably installed on the frame and used to provide arm support for the patient; a seat, which is adjustably installed on the frame and used to support the patient; two groups of crank assemblies, which are adjustably and rotatably installed on the frame and used to connect pedals; a touch screen, which is installed on the frame and used to input the anthropometric data and affected limb evaluation data of the patient, set and detect training parameters; and further comprising a control system, a power device installed on the frame, and an active feedback system; The active feedback system is used to collect and mark the pain data of the patient. The output end of the power device is connected with the crank assembly; The control system comprises a data acquisition system, a cloud platform and a controller, the data acquisition system is used for acquiring pressure applied to the saddle, pressure applied to the pedal, knee flexion and extension angle, heart rate and bicycle setting parameters; the cloud platform is provided with a database for storing data for statistics, which associates human body measurement data of the patient with power device parameters and bicycle setting parameters, and is used for recommending a rehabilitation training prescription to the patient; The touch screen, the power device, the active feedback system, the data acquisition system, the cloud platform, the crank assembly and the saddle are respectively in communication connection with the controller.

[0011] The joint rehabilitation device of the application, the bicycle setting parameters include saddle position, crank assembly length, handlebar position, training duration, training intensity and the like; in use, the corresponding bicycle setting parameters can be obtained from the database by inputting the human body measurement data of the patient through the touch screen, and a rehabilitation training prescription is recommended to the patient, the handlebar height is adjusted according to the prescription, and the saddle position, the length of the crank assembly and the power device parameters are automatically adjusted, and in the training process, the pain data of the patient can be collected and marked by the active feedback system, the power device parameters and the bicycle setting parameters are gradually adjusted, the principle of gradual progress can be followed, the operation difficulty of the bicycle and the dependence on medical personnel are reduced, and the patient can bear pain but obtain higher rehabilitation effect.

[0012] Further, the active feedback system comprises a facial pain expression recognition device, a distress scream recognition device or a pain button selected by the patient, which are arranged on the frame and in communication connection with the controller, the active feedback system can collect feedback information by one or more of the facial pain expression recognition device, the distress scream recognition device or the pain button selected by the patient.

[0013] Further, two hubs are rotatably installed on the two sides of the frame, the output end of the power device is connected with two groups of the crank assemblies, and the two hubs are respectively installed on the two groups of the crank assemblies.

[0014] Further, each group of the crank assemblies comprises a steering engine, a lead screw, a lead screw nut, a sliding block, a sliding rail, a spring wire and a crank frame, the steering engine, the lead screw and the sliding rail are arranged on the crank frame, the controller is in communication connection with the steering engine, the output shaft of the steering engine is connected with one end of the lead screw, the lead screw nut is fixed on the sliding block and in sliding connection with the lead screw, the sliding block is in sliding connection with the sliding rail, and the spring wire is fixed at both ends on the sliding block and the crank frame.

[0015] Further, the power device comprises a servo motor and a T-shaped speed reducer arranged on the frame, an output shaft of the servo motor is connected with an input end of the T-shaped speed reducer, two output shafts of the T-shaped speed reducer are fixedly connected with two crank assemblies respectively, and the output shaft of the T-shaped speed reducer is provided with a through-hole conductive slip ring connector, and the controller is electrically connected with the steering wheel through the through-hole conductive slip ring connector.

[0016] Further, the foot pedal comprises a pedal and a protective cover, the protective cover is rotationally connected with the sliding block, the pedal is arranged on the top of the protective cover, the data acquisition system comprises a first pressure sensor arranged in the protective cover, and the first pressure sensor is located at the bottom of the pedal, and the first pressure sensor is in communication connection with the controller.

[0017] Further, the seat comprises an adjusting mechanism, a cushion and a fixed seat, the adjusting mechanism is arranged on the frame, an output end of the adjusting mechanism is connected with the fixed seat, and the adjusting mechanism is in communication connection with the controller; the data acquisition system comprises a second pressure sensor and a third pressure sensor in communication connection with the controller respectively, the second pressure sensor and the third pressure sensor are mounted on the top of the fixed seat, and the second pressure sensor and the third pressure sensor are symmetrically arranged on the bottom of the cushion about the vertical plane where the central axis of the cushion is located.

[0018] Further, the cloud platform is further constructed with an intelligent model, the database and the data acquisition system are in communication connection with the intelligent model respectively, and the intelligent model is used for optimizing a rehabilitation training prescription and storing the rehabilitation training prescription in the database.

[0019] The application also provides a joint rehabilitation method applied to the joint rehabilitation bicycle. S1: obtaining human body measurement data and affected limb evaluation data of a patient and inputting the data into a touch screen or pre-entering a cloud platform; S2: obtaining bicycle setting parameters by the controller according to the human body measurement data, the affected limb evaluation data and pre-stored statistical data in the database; S3: automatically adjusting lengths of the crank assemblies, positions of the seat and positions of the handlebars according to the bicycle setting parameters; S4: adjusting power device parameters and bicycle setting parameters according to whether pain data of the patient are collected and marked by the active feedback system during the training process of the patient by supporting the seat and pedaling the foot pedal, and collecting pressure applied to the seat, pressure applied to the foot pedal, knee flexion and extension angle, heart rate and bicycle setting parameters by the data acquisition system.

[0020] The joint rehabilitation method of the application can obtain corresponding bicycle setting parameters from the database according to the human body measurement data and the affected limb evaluation data of the patient input through the touch screen, recommend a rehabilitation training prescription to the patient, adjust the handlebar height according to the prescription, and automatically adjust the seat position, the length of the crank assembly and the power device parameters, and in the training process, the patient can collect and mark the pain data of the patient through the active feedback system, gradually adjust the power device parameters and the bicycle setting parameters, can follow the principle of gradual progress, reduce the operation difficulty of the bicycle and the dependence on medical personnel, and enable the patient to bear pain but also obtain higher rehabilitation effect.

[0021] Preferably, in step S4, the controller adjusts the power device parameters and the bicycle setting parameters according to whether the active feedback system collects and marks the pain data of the patient, including: When the active feedback system does not collect and mark the pain data of the patient: Adjust the bicycle setting parameters to increase the joint mobility of the patient; Or adjust the power device parameters to reduce the assistance or increase the resistance, increase the training difficulty, and improve the knee joint mobility of the patient; When the active feedback system collects and marks the pain data of the patient: Adjust the bicycle setting parameters to reduce the knee joint mobility to reduce the pain of the patient; Or adjust the power device parameters to increase the assistance or reduce the resistance, weaken the training difficulty, and relieve the pain of the patient; Or adjust the power device parameters to gradually slow down and reverse the crank assembly.

[0022] Compared with the prior art, the application has the following beneficial effects: It can follow the principle of gradual progress, reduce the operation difficulty and dependence on medical personnel, enable the patient to start from easy training intensity, gradually increase the difficulty, and finally bear pain but also obtain higher rehabilitation effect. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a perspective view of the joint rehabilitation bicycle in the embodiment of the application; Figure 2 It is a structural schematic view of the joint rehabilitation bicycle in the embodiment of the application; Figure 3 It is a structural schematic view of the seat in the embodiment of the application; Figure 4 It is a structural schematic view of the fixed seat in the embodiment of the application; Figure 5 It is an installation schematic view of the fixed seat in the embodiment of the application; Figure 6 It is an installation schematic view of the handlebar in the embodiment of the application; Figure 7 The installation schematic diagram of the crank assembly in the embodiment of the present application; Figure 8 The installation schematic diagram of the crank assembly and the hub in the embodiment of the present application.

[0024] In the drawings: 1-frame; 101-locking piece; 102-connector; 2-handlebar; 201-handle; 202-grip; 3-seat; 301-adjusting mechanism; 3011-electric cylinder; 3012-telescopic rod; 302-cushion; 303-fixed seat; 3031-groove; 304-first connecting column; 305-second connecting column; 306-bottom plate; 307-power module; 308-backrest; 4-crank assembly; 401-steering engine; 402-screw rod; 403-screw nut; 404-sliding block; 405-sliding rail; 406-spring wire; 407-crank frame; 5-footrest; 501-pedal; 502-protective cover; 6-touch screen; 7-power device; 701-servo motor; 702-T-shaped speed reducer; 703-via conductive slip ring connector; 8-hub; 801-fixed frame; 9-second pressure sensor; 10-third pressure sensor. DETAILED DESCRIPTION

[0025] The present application will be further described below in conjunction with specific embodiments. Among them, the drawings are only used for exemplary description, and the representation is only a schematic diagram, not a physical diagram, and cannot be understood as a limitation on the present patent; in order to better illustrate the embodiments of the present application, some components of the drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings can be omitted.

[0026] The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the positional relationship described in the drawings is only used for exemplary description, and cannot be understood as a limitation on the present patent, for those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0027] Embodiment one A joint rehabilitation bicycle, as shown in Figure 1 , Figure 2 , comprising: frame 1; handlebar 2, which is adjustably installed on frame 1, is used to provide arm support for patients; A seat 3 is adjustably mounted on the frame 1 for supporting the patient; Two sets of crank assemblies 4 are adjustably and rotatably mounted on the frame 1 for connecting the pedals 5; A touch screen 6 is mounted on the frame 1 for inputting the anthropometric data of the patient, the assessment data of the affected limb, setting and detecting the training parameters; Further comprising a control system, a power device 7 and an active feedback system mounted on the frame 1; The active feedback system is used for collecting and marking the pain data of the patient; The output end of the power device 7 is connected with the crank assemblies 4; The control system comprises a data acquisition system, a cloud platform and a controller, the data acquisition system is used for collecting the pressure applied to the seat 3, the pressure applied to the pedals 5, the knee flexion angle, the heart rate and the bicycle setting parameters; the cloud platform is provided with a database for storing the data for statistics, which associates the anthropometric data of the patient with the power device 7 parameters and the bicycle setting parameters, for recommending the rehabilitation training prescription to the patient; The touch screen 6, the power device 7, the active feedback system, the data acquisition system, the cloud platform, the crank assemblies 4 and the seat 3 are respectively in communication connection with the controller.

[0028] The above-mentioned joint rehabilitation bicycle, the bicycle setting parameters include the seat 3 position, the crank assembly 4 length, the handlebar 2 position, the training duration, the training intensity and the like; in use, the corresponding bicycle setting parameters can be obtained from the database according to the input of the anthropometric data of the patient and the assessment data of the affected limb through the touch screen 6, the rehabilitation training prescription is recommended to the patient, the height of the handlebar 2 is adjusted according to the prescription, and the position of the seat 3, the length of the crank assembly 4 and the power device 7 parameters are automatically adjusted, and in the training process, the pain data of the patient can be collected and marked by the active feedback system, the power device 7 parameters and the bicycle setting parameters are gradually adjusted, which can follow the principle of gradual progress, reduce the operation difficulty of the bicycle and the dependence on medical personnel, and enable the patient to bear the pain but obtain higher rehabilitation effect.

[0029] Specifically, the anthropometric data includes the knee joint activity, the thigh length, the calf length and the inseam length and the like of the patient, and through the kinematics or inverse kinematics method, the appropriate bicycle setting parameters can be calculated, so that the patient can cover the knee joint activity in the way of pedaling a whole circle on the bicycle, and the patient can train the joint activity in the range as large as possible with the least pain.

[0030] The active feedback system includes a facial pain expression recognition device, a pain cry recognition device, or a pain button selectable by the patient, all mounted on the frame 1 and communicating with the controller. The active feedback system can collect feedback information through one or more of these methods, including but not limited to the facial pain expression recognition device, pain cry recognition device, or pain button selectable by the patient, all mounted on the frame 1. If the active feedback system fails to collect and label the patient's pain data, and the patient can pedal a full lap without pain, then during the next training session or time period, the bicycle settings, such as the seat height 3 and crank assembly length 4, will be adjusted to increase the patient's joint mobility; or the relevant parameters of the power unit 7 will be adjusted to reduce assist or increase resistance, increasing the training difficulty and improving the patient's knee joint mobility. When a patient experiences persistent pain and marks pain points, necessitating a narrowing of joint range of motion, the active feedback system collects and marks the patient's pain data. In the next training session or time period, the system adjusts bicycle settings, such as seat height (3) and crank assembly length (4), to reduce knee joint range of motion and alleviate pain. If a full rotation is not possible, the power unit (7) parameters can be adjusted to gradually decelerate the crank assembly (4) until it stops and then reverses, preventing further pain and reducing the patient's discomfort. Patients can also actively cancel pain markings and, through their own effort, overcome pain and actively pedal to break through pain point marks and achieve a new knee joint range of motion. During resistance training, if the monitored patient's heart rate exceeds a preset threshold, the control system automatically stops power output and ends the current training to avoid cardiac risks. The heart rate threshold can be determined based on the patient's cardiac capacity, such as taking the patient's maximum heart rate (<220 - age> beats / min) and multiplying it by a certain percentage (e.g., 80%) as the preset heart rate threshold.

[0031] like Figure 1 As shown, wheel hubs 8 are rotatably mounted on both sides of the frame 1. The output end of the power unit 7 is connected to two sets of crank assemblies 4, and the two wheel hubs 8 are respectively mounted on the two sets of crank assemblies 4. In practice, the power unit 7 drives the crank assemblies 4 to rotate, which can drive the wheel hubs 8 and the pedals 5 connected to the crank assemblies 4 to rotate forward or backward, realizing passive training. At the same time, the speed and torque can be adjusted by the power unit 7 to realize assisted training or resistance training.

[0032] like Figure 7As shown, each of the crank assemblies 4 comprises a steering engine 401, a lead screw 402, a lead screw nut 403, a sliding block 404, a sliding rail 405, a spring wire 406 and a crank frame 407, the steering engine 401, the lead screw 402 and the sliding rail 405 are arranged on the crank frame 407, the controller is in communication connection with the steering engine 401, an output shaft of the steering engine 401 is connected with one end of the lead screw 402, the lead screw nut 403 is fixed on the sliding block 404 and in sliding connection with the lead screw 402, the sliding block 404 is in sliding connection with the sliding rail 405, and the spring wire 406 is fixed at both ends on the sliding block 404 and the crank frame 407 respectively. Wherein, the transmission connection of the steering engine 401 and the lead screw 402 can realize higher precision control, and the steering engine 401 has small volume and light weight, which is applied to the joint rehabilitation bicycle, is beneficial to save space and reduce the overall weight, and is more applicable to indoor and bedside medical occasions.

[0033] As shown in Figure 2 , Figure 3 As shown, the seat 3 comprises an adjusting mechanism 301, a seat cushion 302 and a fixed seat 303, the adjusting mechanism 301 is arranged on the frame 1, an output end of the adjusting mechanism 301 is connected with the fixed seat 303, and the adjusting mechanism 301 is in communication connection with the controller; the data acquisition system comprises a second pressure sensor 9 and a third pressure sensor 10 which are in communication connection with the controller respectively, the second pressure sensor 9 and the third pressure sensor 10 are installed on the top of the fixed seat 303, and the second pressure sensor 9 and the third pressure sensor 10 are symmetrically arranged on the bottom of the seat cushion 302 about a vertical plane where a central axis of the seat cushion 302 is located. When the patient is training, the force of the seat cushion 302 will fluctuate slightly left and right with the riding action, the force information on both sides of the seat cushion 302 is collected by the second pressure sensor 9 and the third pressure sensor 10 respectively and is prompted on the touch screen 6, when the fluctuation of the force difference value exceeds a certain range, it is considered that the bad posture such as limb tilting is detected, the patient can know in real time whether the riding posture in the training process is correct and adjust in time, so as to prevent problems such as knee valgus caused by incorrect riding posture, so as to achieve better rehabilitation effect. Wherein, the second pressure sensor 9 and the third pressure sensor 10 can be an integrated structure, so as to ensure the symmetry and high consistency of the second pressure sensor 9 and the third pressure sensor 10, reduce the detection error caused by installation, and improve the reliability of the riding posture judgment. Wherein, the second pressure sensor 9 and the third pressure sensor 10 can be expanded to 4 or more pressure sensors, form a pressure sensor group, or even a pressure sensor matrix, and are distributed around the seat 3, for recording the force distribution of the seat 3 in front, back, left and right or more directions.

[0034] Specifically, as shown in Figure 4As shown in the figure, the top of the fixed seat 303 is provided with a groove 3031, and the second pressure sensor 9 and the third pressure sensor 10 are installed in the groove 3031; the bottom of the cushion 302 is provided with a support structure, which includes a bottom plate 306 and a second connecting column 305, the second connecting column 305 is connected between the cushion 302 and the bottom plate 306, the second pressure sensor 9 and the third pressure sensor 10 are respectively connected to the bottom of the bottom plate 306 through the first connecting column 304, and the power supply module 307 for supplying power to the second pressure sensor 9 and the third pressure sensor 10 is installed between the bottom plate 306 and the cushion 302. The second pressure sensor 9 and the third pressure sensor 10 are integrated and designed to collect the pressure transmitted through the support structure, which can further reduce the detection error, and at the same time, the bottom plate 306 and the cushion 302 are separated by the second connecting column 305 to prevent the cushion 302 from being pressed to the power supply module 307 when the cushion 302 is pressed.

[0035] As shown in the figure, Figure 3 The adjusting mechanism 301 includes an electric cylinder 3011 and a telescopic rod 3012, the electric cylinder 3011 is installed on the frame 1, the output end of the electric cylinder 3011 is connected with one end of the telescopic rod 3012, the other end of the telescopic rod 3012 is connected with the fixed seat 303, and the telescopic direction of the telescopic rod 3012 is at an angle with the horizontal plane, when it is necessary to adjust the height of the cushion 302, the electric cylinder 3011 drives the telescopic rod 3012 to extend or retract, the height of the cushion 302 changes, and at the same time, the front and rear positions also change to adapt to different patients.

[0036] As shown in the figure, Figure 2 , Figure 3 The seat stool 3 further includes a backrest 308 connected with the cushion 302, which avoids the patient from falling backward during the training process, and plays a safety protection role.

[0037] As shown in the figure, Figure 6 The handlebar 2 includes a handle 201 and a handle 202 at both ends of the handle 201, the frame 1 is provided with a locking sheet 101, one end of the locking sheet 101 is movably connected with the frame 1, the other end of the locking sheet 101 is connected with the frame 1 through a connecting piece 102, and a through hole for installing the handle 201 is formed between the locking sheet 101 and the frame 1. When it is necessary to adjust the handlebar 2, the connecting piece 102 is loosened to expand the through hole, the handle 201 is rotated to make the handle 202 located at a specific position, and then the connecting piece 102 is tightened to fix the handle 201 on the frame 1 by the locking sheet 101, so that the handlebar 2 is prevented from rotating.

[0038] The cloud platform is also built with an intelligent model, the database and the data acquisition system are respectively in communication connection with the intelligent model, and the intelligent model is used for optimizing the rehabilitation training prescription and storing the rehabilitation training prescription in the database. In the use process of the patient, the related torque size, the rotating speed size, the crank assembly 4 angle, the crank assembly 4 length, the seat 3 position and other parameters can be automatically recorded through the data acquisition system and the control system, and the recorded parameters are used for training and optimizing the intelligent model of the cloud platform, so as to obtain a more suitable rehabilitation training prescription.

[0039] Embodiment two This embodiment is similar to embodiment one, and the difference is that, as shown in Figure 8 each group of crank assemblies 4 includes a steering engine 401, a lead screw 402, a lead screw nut 403, a sliding block 404, a sliding rail 405 and a spring wire 406, the steering engine 401 is installed on the hub 8, the sliding rail 405 is fixed on the hub 8 through a fixing frame 801, the controller is in communication connection with the steering engine 401, the output shaft of the steering engine 401 is connected with one end of the lead screw 402, the lead screw nut 403 is fixed on the sliding block 404 and is in sliding connection with the lead screw 402, the sliding block 404 is fixedly connected with the pedal 5, the sliding block 404 is in sliding connection with the sliding rail 405, and the spring wire 406 is fixed at both ends to the sliding block 404 and the hub 8 respectively. When the pedal 5 is stepped, the crank assembly 4 and the hub 8 rotate synchronously, and when the parameters of the power device 7 are adjusted, the synchronous adjustment of the crank assembly 4 can be realized through the hub 8. The crank assembly 4 and the hub 8 in the scheme are a whole module, which simplifies the product assembly structure and reduces the processing cost.

[0040] As shown in Figure 8 the power device 7 includes a servo motor 701 installed on the frame 1 and a T-shaped speed reducer 702, the output shaft of the servo motor 701 is connected with the input end of the T-shaped speed reducer 702, the two output shafts of the T-shaped speed reducer 702 are fixedly connected with the two hubs 8 respectively, and the output shaft of the T-shaped speed reducer 702 is provided with a through-hole conductive slip ring connector 703, and the controller is electrically connected with the steering engine 401 through the through-hole conductive slip ring connector 703. In the implementation, the servo motor 701 can be used for accurate parameter control, and the T-shaped speed reducer 702 can be used for synchronous control of the two hubs 8 and the two groups of crank assemblies 4. The through-hole conductive slip ring connector 703 can ensure stable transmission of signals and electric energy during the training process and prevent wire twisting.

[0041] As shown in Figure 2As shown, the foot pedal 5 includes a pedal plate 501 and a protective cover 502, the protective cover 502 is rotationally connected with the sliding block 404, the pedal plate 501 is arranged on the top of the protective cover 502, the data acquisition system includes a first pressure sensor arranged in the protective cover 502, and the first pressure sensor is located at the bottom of the pedal plate 501, and the first pressure sensor is in communication connection with the controller. The first pressure sensor can collect the pedaling pressure and transmit it to the controller, so that the controller adjusts the length of the crank assembly 4 according to the condition of the patient, so as to improve the rehabilitation effect of the patient. The first pressure sensor can be expanded to two or more pressure sensors, which is convenient for measuring the front and rear pressure distribution of the foot pedal or making the foot pedal pressure value more accurate.

[0042] Embodiment three A joint rehabilitation method applied to the joint rehabilitation bicycle of the embodiment one or the embodiment two, comprising the following steps: S1: obtaining the anthropometric data and the affected limb evaluation data of the patient and inputting the touch screen 6; S2: the controller obtains the bicycle setting parameters according to the anthropometric data, the affected limb evaluation data and the statistical data pre-stored in the database; S3: automatically adjusting the length of the crank assembly 4 and the position of the seat 3 according to the bicycle setting parameters, and adjusting the position of the handlebar 2; S4: during the training process of the patient supporting through the seat 3 and pedaling the foot pedal 5, the controller adjusts the parameters of the power device 7 and the bicycle setting parameters according to whether the active feedback system collects and marks the pain data of the patient, and collects the pressure applied to the seat 3, the pressure applied to the foot pedal 5, the knee joint flexion angle, the heart rate and the bicycle setting parameters through the data acquisition system.

[0043] The joint rehabilitation method described above, through the touch screen 6, the corresponding bicycle setting parameters can be obtained from the database according to the anthropometric data and the affected limb evaluation data of the patient, the rehabilitation training prescription is recommended to the patient, the height of the handlebar 2 is adjusted according to the prescription, and the position of the seat 3, the length of the crank assembly 4 and the parameters of the power device 7 are automatically adjusted, and in the training process, the patient can collect and mark the pain data of the patient through the active feedback system, gradually adjust the parameters of the power device 7 and the bicycle setting parameters, can follow the principle of gradual progress, reduce the operation difficulty of the bicycle and the dependence on medical personnel, and enable the patient to bear pain but also obtain higher rehabilitation effect.

[0044] In step S4, the controller adjusts the parameters of the power device 7 and the bicycle setting parameters according to whether the active feedback system collects and marks the pain data of the patient, comprising: When the active feedback system does not collect and mark the pain data of the patient: Adjusting the bicycle setting parameters to increase the joint mobility of the patient; Or adjust the power device 7 parameters, make the assistive reduce or the resistance increase, increase the training difficulty, improve the patient's knee joint activity ability; When the active feedback system collects and marks the patient's pain data: Adjust the bicycle setting parameters, reduce the knee joint activity range, to reduce the patient's pain; Or adjust the power device 7 parameters, make the crank assembly 4 gradually decelerate and then reverse.

[0045] It should be noted that the patient can also actively cancel the pain mark, overcome pain according to their own efforts, actively pedal the bicycle, break through the pain point mark, and reach a new knee joint activity range.

[0046] In the specific content of the above specific embodiments, each technical feature can be combined arbitrarily without contradiction, and in order to make the description concise, not all possible combinations of the above technical features are described, but as long as the combination of these technical features does not exist Contradiction, it should be considered as the scope of the present application.

[0047] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. For those skilled in the art, on the basis of the above description, other different forms of changes or variations can also be made. Here, it is not necessary and impossible to exhaust all the embodiments. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A joint rehabilitation bicycle, comprising: a frame (1); a handlebar (2) adjustably mounted on the frame (1) for providing arm support for a patient; a seat (3) adjustably mounted on the frame (1) for supporting the patient; two sets of crank assemblies (4) adjustably and rotatably mounted on the frame (1) for connecting pedals (5); a touch screen (6) mounted on the frame (1) for inputting anthropometric data of the patient, assessment data of the affected limb, setting and detecting training parameters; characterized in that it further comprises a control system, a power device (7) mounted on the frame (1) and an active feedback system; the active feedback system is used to collect and mark the pain data of the patient; an output end of the power device (7) is connected with the crank assemblies (4); the control system comprises a data acquisition system, a cloud platform and a controller, the data acquisition system is used to acquire the pressure applied to the seat (3), the pressure applied to the pedals (5), the knee flexion angle, the heart rate and the bicycle setting parameters; the cloud platform is provided with a database for storing the data for statistics, which associates the anthropometric data of the patient with the parameters of the power device (7) and the bicycle setting parameters, for recommending a rehabilitation training prescription to the patient; the touch screen (6), the power device (7), the active feedback system, the data acquisition system, the cloud platform, the crank assemblies (4) and the seat (3) are respectively in communication connection with the controller.

2. The rehabilitation bicycle according to claim 1, characterized in that The active feedback system can collect feedback information through one or more methods such as facial pain expression recognition device, pain scream recognition device or pain key selected by the patient, and is in communication connection with the controller.

3. The rehabilitative cycle according to claim 1, characterized in that, Two hubs (8) are rotatably mounted on both sides of the frame (1), an output end of the power device (7) is connected with the two sets of crank assemblies (4), and the two hubs (8) are respectively mounted on the two sets of crank assemblies (4).

4. The rehabilitative cycle according to claim 3, characterized in that, Each set of crank assemblies (4) comprises a steering engine (401), a lead screw (402), a lead screw nut (403), a sliding block (404), a sliding rail (405), a spring wire (406) and a crank frame (407), the steering engine (401), the lead screw (402) and the sliding rail (405) are mounted on the crank frame (407), the controller is in communication connection with the steering engine (401), an output shaft of the steering engine (401) is connected with one end of the lead screw (402), the lead screw nut (403) is fixed on the sliding block (404) and is in sliding connection with the lead screw (402), the sliding block (404) is in sliding connection with the sliding rail (405), and the spring wire (406) is fixed at both ends on the sliding block (404) and the crank frame (407).

5. The rehabilitative cycle according to claim 4, characterized in that, The power device (7) comprises a servo motor (701) and a T-shaped speed reducer (702) arranged on the frame (1), the output shaft of the servo motor (701) is connected with the input end of the T-shaped speed reducer (702), the two output shafts of the T-shaped speed reducer (702) are respectively fixedly connected with two crank assemblies (4), and the output shaft of the T-shaped speed reducer (702) is provided with a through-hole conductive slip ring connector (703), and the controller is electrically connected with the steering wheel (401) through the through-hole conductive slip ring connector (703).

6. The joint rehabilitation cycle according to claim 4, characterized in that, The pedal (5) comprises a pedal plate (501) and a protective cover (502), the protective cover (502) is rotationally connected with the sliding block (404), the pedal plate (501) is arranged on the top of the protective cover (502), the data acquisition system comprises a first pressure sensor arranged in the protective cover (502), and the first pressure sensor is located at the bottom of the pedal plate (501), and the first pressure sensor is in communication connection with the controller.

7. The joint rehabilitation cycle according to claim 1, characterized in that The seat (3) comprises an adjusting mechanism (301), a cushion (302) and a fixed seat (303), the adjusting mechanism (301) is arranged on the frame (1), the output end of the adjusting mechanism (301) is connected with the fixed seat (303), and the adjusting mechanism (301) is in communication connection with the controller; the data acquisition system comprises a second pressure sensor (9) and a third pressure sensor (10) in communication connection with the controller, respectively, the second pressure sensor (9) and the third pressure sensor (10) are installed on the top of the fixed seat (303), and the second pressure sensor (9) and the third pressure sensor (10) are symmetrically arranged on the bottom of the cushion (302) about the vertical plane where the central axis of the cushion (302) is located.

8. The rehabilitation bicycle according to any of claims 1 to 7, characterized in that The cloud platform is also built with an intelligent model, the database and the data acquisition system are in communication connection with the intelligent model, respectively, and the intelligent model is used for optimizing the rehabilitation training prescription and storing the rehabilitation training prescription in the database.

9. A method of joint rehabilitation applied to the joint rehabilitation bicycle according to any one of claims 1 to 8, characterized in that, The method comprises the following steps: S1: obtaining anthropometric data and affected limb evaluation data of a patient and inputting the data into a touch screen (6) or pre-entering the data into a cloud platform; S2: obtaining a bicycle setting parameter by a controller according to the anthropometric data, the affected limb evaluation data and pre-stored statistical data in a database; S3: automatically adjusting the length of a crank assembly (4) and the position of a seat (3) and adjusting the position of a handlebar (2) according to the bicycle setting parameter; S4: adjusting a power device (7) parameter and a bicycle setting parameter according to whether pain data of a patient is collected and marked by an active feedback system and collecting pressure applied to the seat (3), pressure applied to a pedal (5), a knee joint flexion and extension angle, a heart rate and the bicycle setting parameter by a data acquisition system during the process that the patient supports the seat (3) and pedals the pedal (5) for training.

10. The method of claim 9, wherein the method further comprises, In step S4, adjusting the power device (7) parameter and the bicycle setting parameter according to whether the pain data of the patient is collected and marked by the active feedback system comprises: When the active feedback system does not collect and mark the patient's pain data: Adjust the bicycle setting parameters to increase the patient's joint mobility; Or adjust the power device (7) parameters to reduce the assistance or increase the resistance, increase the training difficulty, and improve the patient's knee joint mobility; When the active feedback system collects and marks the patient's pain data: Adjust the bicycle setting parameters to reduce the knee joint range of motion to reduce patient pain; Or adjust the power device (7) parameters to increase the assistance or reduce the resistance to reduce the training difficulty; Or make the crank assembly (4) gradually slow down and reverse.

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