A robot training system for remote rehabilitation

Abstract

The present invention discloses a robot training system for remote rehabilitation, comprising: a physician server-side computer, a rehabilitation robot client computer, a lower limb rehabilitation robot and a computer network; a professional physician sets a rehabilitation training task on the physician server-side computer according to the patient's rehabilitation training data, and remotely dispatches the rehabilitation training task to the rehabilitation robot client computer through the computer network; the rehabilitation robot client computer is used to receive the rehabilitation training task, and after parsing the rehabilitation training task, sets various parameters of the lower limb rehabilitation robot to achieve motion control of the lower limb rehabilitation robot; the lower limb rehabilitation robot is used to perform rehabilitation training on the patient under the control of the rehabilitation robot client computer, and feeds back the rehabilitation training data to the rehabilitation robot client computer. The present invention can provide auxiliary rehabilitation training equipment for hemiplegic stroke patients and realize network-based remote rehabilitation interactive control.

Description

Technical Field

[0001] The invention belongs to the technical field of medical devices, and in particular relates to a robot training system for remote rehabilitation. Background Art

[0002] For patients with sequelae of stroke, rehabilitation training of hemiplegia is the main medical means. Rehabilitation training as early as possible is conducive to reducing the probability of disability. Traditional rehabilitation training requires therapists to assist patients in manual rehabilitation. This method is time-consuming and hard for therapists. At the same time, it also has a great economic burden on patients. In addition, there is a lack of objective data for scientific evaluation of training parameters and rehabilitation effects, and it is difficult to optimize the training parameters to obtain the best treatment effect. The development of medical technology has improved the survival rate of stroke patients and expanded the number of hemiplegia patients, so rehabilitation treatment for stroke patients has become crucial. What should patients at home do if they need rehabilitation? Remote rehabilitation medicine has far-reaching significance for meeting the rehabilitation needs of patients at home and improving the quality of medical care. Remote rehabilitation refers to the use of Internet technology and communication technology to transmit electronic rehabilitation training data at different locations. It has the advantages of convenience, speed, and no time and space boundaries. Secondly, remote rehabilitation can enable patients to complete rehabilitation training at home without leaving home and easily. There are many different factors between remote rehabilitation and offline rehabilitation: different rehabilitation environments, different rehabilitation equipment, different rehabilitation processes, different guidance methods, and different guidance objects. Remote rehabilitation has the advantages of being efficient, convenient, economical and practical. No matter where you are, in a remote border town or in a bustling city, you can enjoy the same quality of remote rehabilitation services.

[0003] Humanized robots can be more friendly to humans and more easily integrated into the daily life of patients in home or hospital environments. Combined with some interactive entertainment, they can effectively prevent Alzheimer's disease and the decline of daily life ability. However, in the lower limb rehabilitation training of hemiplegic patients, restoring the motor function of the lower limbs of patients and realizing self-care in daily life and returning to normal life, auxiliary service robots are not enough in this regard. What the elderly need most is remote rehabilitation in their daily life environment, rather than in regular rehabilitation centers or hospitals. Bringing remote rehabilitation services to patients' homes is beneficial to their rehabilitation. Remote rehabilitation services can overcome geographical, physical and cognitive barriers, enabling physicians to monitor, educate and treat patients in their own environment, and strengthen or even replace traditional forms of rehabilitation treatment. Current telemedicine and remote monitoring attempt to establish an efficient and sustainable system and collect and analyze data. Although home telerehabilitation has made progress, there are still some obstacles.

[0004] During the research and development process, the existing rehabilitation robot training equipment has the following disadvantages:

[0005] 1. Currently, the intelligent rehabilitation robot training equipment on the market is generally large in size and is usually placed in fixed places, such as hospitals and rehabilitation centers. This type of large rehabilitation equipment does not support remote rehabilitation training. The use of fixed places will limit the user group of patients. Many patients are not suitable for traveling back and forth to fixed places for rehabilitation training.

[0006] 2. The small rehabilitation equipment purchased by patients has low performance and simple functions. Although patients can use this type of rehabilitation equipment for training at home or in the community, there is no quantitative data and doctor's guidance, and the rehabilitation effect is poor.

[0007] 3. During rehabilitation training, small rehabilitation equipment cannot provide feedback and objectively and quantitatively evaluate the patient's lower limb rehabilitation effects.

[0008] 4. Most rehabilitation equipment cannot obtain patients’ rehabilitation training data, and it is difficult for doctors to quantitatively and objectively evaluate patients’ rehabilitation effects with the help of robot feedback data.

[0009] 5. In rehabilitation training guidance, therapists can only rely on their own experience. It is difficult to adjust the training parameters of the rehabilitation equipment according to the patient's physical condition or the quantitative data of the rehabilitation equipment to keep the patient in a good training state.

[0010] 6. Most rehabilitation equipment cannot realize the concept of human-centered rehabilitation, enhance the autonomy of human intention in rehabilitation training, and improve patients' self-confidence and active willingness for rehabilitation during the rehabilitation process.

[0011] 7. A large number of rehabilitation robot training devices use complex control algorithms to make robots more intelligent, requiring robot operators to undergo professional training and guidance before they can use them. Relevant data, graphics, and charts need to be learned before they can be analyzed, which places a heavy burden on operators.

[0012] 8. A large number of rehabilitation robots use complex structures and control algorithms, which greatly increase the design, research and development, and production costs of the robots, making them difficult to be accepted by ordinary hospitals or families, and even more difficult to promote. As a result, a large number of patients find it difficult to enjoy rehabilitation treatment, which reduces the patient user group and makes it difficult for a large number of patients to obtain such rehabilitation treatment. Summary of the invention

[0013] In view of this, the present invention provides a robot training system for remote rehabilitation, which can provide auxiliary rehabilitation training equipment for hemiplegic stroke patients and realize network-based remote rehabilitation interactive control.

[0014] The present invention is achieved through the following technical solutions:

[0015] A robot training system for remote rehabilitation, comprising: a physician server computer, a rehabilitation robot client computer, a lower limb rehabilitation robot and a computer network;

[0016] The physician server computer is located in a hospital or a rehabilitation center, and the rehabilitation robot client computer and the lower limb rehabilitation robot are located in the patient's home or the patient's community;

[0017] The professional physician sets the rehabilitation training task on the physician server computer according to the patient's rehabilitation training data, and remotely dispatches the rehabilitation training task to the rehabilitation robot client computer through the computer network;

[0018] The rehabilitation robot client computer is used to receive the rehabilitation training task, and after parsing the rehabilitation training task, set various parameters of the lower limb rehabilitation robot to achieve motion control of the lower limb rehabilitation robot; and is also used to feed back the patient's rehabilitation training data to the physician server computer for real-time display;

[0019] The lower limb rehabilitation robot is used to perform rehabilitation training on patients under the control of the rehabilitation robot client computer, and feed back rehabilitation training data to the rehabilitation robot client computer.

[0020] Furthermore, the lower limb rehabilitation robot comprises: a robot body and a control module;

[0021] The robot body comprises: an overall frame, two motion units and two body weight support units;

[0022] The overall frame includes a U-shaped frame and two parallel movable bases; the two ends of the inverted U-shaped frame are fixed on the two bases; the front side surfaces of the two vertical parts of the U-shaped frame are both equipped with guide rails along the vertical direction and sliders A that slide with them, and the outer side surfaces of the two vertical parts of the U-shaped frame are both equipped with linear slide rails along the vertical direction and sliders B that slide with them;

[0023] The two motion units are symmetrically mounted on two bases, each motion unit comprising a driving wheel, a wheel hub motor and a wheel hub driver; the driving wheel is mounted in the middle of the base and supported on the ground, the wheel hub motor is mounted on the base, the output shaft of the wheel hub motor is coaxially connected to the driving wheel, the wheel hub driver is electrically connected to the wheel hub motor, and the wheel hub driver is used to drive the output shaft of the wheel hub motor to rotate;

[0024] The two weight support units are symmetrically installed on the two vertical parts of the U-shaped frame, and each weight support unit includes a weight-reducing motor, a weight-reducing driver, a reducer, a spring group, a traction rope, a traction arm, two guide wheels A and two guide wheels B; the traction arm is an L-shaped structure, the vertical part of the traction arm is fixed on the slider A of the overall frame, and the horizontal part is parallel to the base of the overall frame; the two guide wheels A are fixed on the top of the vertical part of the U-shaped frame; the weight-reducing motor, the weight-reducing driver, and the reducer are fixed on the bottom of the vertical part of the U-shaped frame, the weight-reducing driver is electrically connected to the weight-reducing motor, and the weight-reducing driver is used The output shaft of the weight-reducing motor is driven to rotate, and the output shaft of the weight-reducing motor is connected to the input shaft of the reducer, and a winding device is fixed to the output shaft of the reducer; the spring group is located between the guide wheel A and the reducer, the bottom of the spring group is fixed to the vertical part of the U-shaped frame, the top of the spring group is fixedly connected to the slider B, and two guide wheels B are installed on the top of the spring group; one end of the traction rope is wound on the winding device, and the other end is passed around a guide wheel A upward, and then passed around the two guide wheels B at the top of the spring group downward in sequence, and then the other end of the traction rope is passed around another guide wheel A upward again, and then connected to the traction arm downward again;

[0025] A traction garment is connected between the two traction arms of the two body weight support units. When the patient is undergoing rehabilitation training, the patient is located between the two bases of the overall frame and wears the traction garment;

[0026] The control module is used to control the rotation of the wheel hub motor through the wheel hub driver, and is used to control the rotation of the weight reduction motor through the weight reduction driver.

[0027] Furthermore, the control module includes: an MCU, a force and position information sampling module, a displacement transmitter, a force transmitter, a communication module and a lithium battery;

[0028] The force and position information sampling module includes a force sensor and a displacement sensor. The force sensor is used to collect the auxiliary force information provided by the body weight support unit for the patient, that is, the body weight support adjustment parameter, and transmit the auxiliary force information to the force transmitter; the displacement sensor is used to collect the patient's motion information under the assistance of the lower limb rehabilitation robot, and transmit the motion information to the displacement transmitter;

[0029] The force transmitter and the displacement transmitter respectively perform digital-to-analog conversion on the received auxiliary force information and motion information, and send the converted digital signals of the auxiliary force information and motion information to the MCU;

[0030] The MCU is used to form rehabilitation training data from the digital signals of the received auxiliary force information and motion information, and send the rehabilitation training data to the rehabilitation robot client computer through the communication module for display; the rehabilitation robot client computer simultaneously sends the rehabilitation training data to the physician server computer through the computer network, and the professional physician generates rehabilitation parameters according to the rehabilitation training data, and the rehabilitation parameters include the weight support adjustment parameters of the robot body, the motion time of the robot body and the motion speed of the robot body, and sends the rehabilitation parameters to the rehabilitation robot client computer through the computer network, and the rehabilitation robot client computer generates task instructions according to the rehabilitation parameters, and sends the task instructions to the MCU through the communication module, and the MCU parses the task instructions to obtain the adjustment parameters of the weight reduction driver and the wheel hub driver of the robot body, and adjusts the weight reduction and motion speed of the robot body according to the adjustment parameters;

[0031] The lithium battery is used to power the MCU, the force and position information sampling module, the transmitter, the communication module, and the weight-reducing motor, the weight-reducing driver, the hub motor, and the hub driver of the robot body.

[0032] Furthermore, the control module also includes a power / voltage detection and display module;

[0033] The power / voltage detection and display module is used to collect the power and voltage of the lithium battery, and send the detected power and voltage signals to the MCU; the MCU sends the power and voltage signals to the rehabilitation robot client computer through the communication module for display; the rehabilitation robot client computer also sends the power and voltage signals to the physician server computer through the computer network.

[0034] Furthermore, the control module also includes a power distribution unit, a power switch and an emergency stop button;

[0035] The lithium battery is divided by the power distribution unit and used to supply power to the electrical components respectively; the power switch is arranged between the lithium battery and the electrical components, and is used to control whether the lithium battery supplies power to the electrical components; the emergency stop button is arranged between the lithium battery and the wheel hub driver, and is used to control whether the wheel hub driver is powered off.

[0036] Furthermore, the control module also includes an audible and visual alarm unit;

[0037] When the patient falls accidentally, the auxiliary force information collected by the force sensor changes suddenly. After the MCU detects the sudden change in the auxiliary force information, it controls the sound and light alarm unit to sound and light alarm, and at the same time controls the wheel hub motor to stop working through the wheel hub driver and controls the weight reduction motor to stop working through the weight reduction driver.

[0038] Furthermore, the control module also includes a travel limit switch;

[0039] The travel limit switch is set at the top of the linear slide rail of the robot body. When the traction arm moves downward and pulls the top of the spring group to rise, and the top of the spring group rises to the travel limit switch, the travel limit switch is triggered, and the travel limit switch sends a trigger signal to the MCU. After receiving the trigger signal, the MCU controls the weight reduction motor to stop working through the weight reduction driver.

[0040] Furthermore, the lower limb rehabilitation robot also includes a visual information acquisition module;

[0041] The visual information acquisition module is used to collect audio and video data of the robot body and the patient, and send the audio and video data to the rehabilitation robot client computer, and the rehabilitation robot client computer sends the audio and video data to the physician server computer through the computer network.

[0042] Furthermore, the lower limb rehabilitation robot also includes a body panel human-computer interaction input module;

[0043] The human-computer interaction input module of the main body panel adopts a remote control with a display screen, and the MCU can also send the rehabilitation training data to the remote control for display; the patient himself or the patient's family holds the remote control, sets the rehabilitation parameters according to the rehabilitation training data displayed on the remote control, and wirelessly transmits the rehabilitation parameters to the rehabilitation robot client computer. The rehabilitation robot client computer generates task instructions according to the rehabilitation parameters, and sends the task instructions to the MCU through the communication module. After parsing the task instructions, the MCU obtains the adjustment parameters of the robot body's weight reduction drive and wheel hub drive, and adjusts the robot body's weight reduction and movement speed according to the adjustment parameters.

[0044] Beneficial effects:

[0045] (1) The present invention provides a robot training system for remote rehabilitation. Through the analysis of the functions and requirements of the lower limb rehabilitation robot system, the present invention adopts a network-based client / server (C / S) architecture system to form a remote training system. The training system is composed of two computers, a physician server-side computer connected to the network for physicians to use, and a rehabilitation robot client computer connected to the lower limb rehabilitation robot and the network for customers to use. The computer network serves as a data transmission channel between the physician server-side computer and the rehabilitation robot client computer. The rehabilitation robot client computer and the lower limb rehabilitation robot can be placed in the patient's home or patient community, and the physician server-side computer is located in a hospital or rehabilitation center. Doctors can guide and supervise stroke patients to conduct remote rehabilitation training, avoiding the inconvenience of patients having to travel back and forth to fixed places for rehabilitation training; and professional doctors analyze the rehabilitation training data of patients based on the rehabilitation training data fed back by patients, to achieve objective quantitative evaluation of the rehabilitation effect of patients' lower limbs, and adjust the training parameters of the lower limb rehabilitation robot according to the patient's physical condition or the quantitative data of the rehabilitation equipment, so that patients can maintain a good training state. Under the guidance of quantitative data and doctors, the rehabilitation effect of patients is better, and through the interaction between patients and professional doctors, the lower limb rehabilitation robot can follow the patient's movement, enhance the autonomy of human intention in lower limb rehabilitation training, and improve patients' self-confidence in the rehabilitation process and their willingness to actively rehabilitate.

[0046] (2) The present invention provides a human lower limb rehabilitation training robot that can provide patients with weight balance support and mobile walking, and provide rehabilitation training treatment for patients with stroke or lower limb walking dysfunction. The lower limb rehabilitation robot includes: a robot body and a control module; while relying on the lower limb rehabilitation robot to achieve its own weight loss and balance, the patient can control the robot to move in the direction of his or her desired movement, and personalized rehabilitation training can help the patient gradually restore the lower limb motor function and adapt to the walking state; all components of the lower limb rehabilitation robot are concentrated in the mechanical structure of the equipment, so that the robot body becomes a compact, easy-to-operate and mobile independent training platform, which can be used in open environments with flat ground such as living rooms, courtyards, and parks. The control algorithm of the lower limb rehabilitation training robot of the present invention is simple, and the robot operator can use it without professional training and guidance, which is easy to promote and use.

[0047] (3) The control module of the present invention includes an MCU and a force and position information sampling module; professional doctors can quantitatively and objectively evaluate the patient's rehabilitation effect based on the sensor feedback data of the robot body. The patient uses the lower limb rehabilitation robot for training at home or in the community. The professional doctor adjusts the robot's weight support adjustment parameters according to the patient's physical condition to enable the patient to maintain a balanced standing state, help the patient reduce the walking burden of the lower limb muscles and gradually restore the lower limb motor strength; wherein, the force sensor always monitors the changes in the strength of the patient's lower limbs during rehabilitation training. With the improvement of the rehabilitation treatment effect, the patient's lower limb strength gradually increases, and the force sensor feedback data value will show a decreasing trend. The feedback data can objectively and quantitatively evaluate the patient's lower limb rehabilitation effect.

[0048] (4) The control module of the present invention also includes an audible and visual alarm unit. When a patient falls due to insufficient lower limb strength, the force sensor data increases instantly, which can trigger the emergency stop protection state of the robot body to protect the patient from injury. At the same time, the audible and visual alarm unit sounds an audible and visual alarm to alert the patient's family members nearby.

[0049] (5) The control module of the present invention also includes a travel limit switch. When the traction arm moves downward and pulls the top of the spring group to rise, when the top of the spring group rises to the travel limit switch, the travel limit switch is triggered. The travel limit switch sends a trigger signal to the MCU. After receiving the trigger signal, the MCU controls the weight-reducing motor to stop working through the weight-reducing driver to prevent excessive weight loss on the patient.

[0050] In summary, compared with the training robots currently used in hospital rehabilitation, the robot training system for remote rehabilitation of the present invention has three main functions: 1. weight support function to assist patients in balancing; 2. multi-sensor information feedback function; 3. human-computer interaction active follow-up movement function.

[0051] Compared with the current training robots used in hospital rehabilitation, which require professionally trained doctors to use, and each patient relies on the doctor's operation and supervision, which greatly increases the doctor's workload. In the robot training system for remote rehabilitation of the present invention, professional doctors can take into account multiple rehabilitation robots on the server side through the system and assign rehabilitation training tasks to different patients. Patients or family members can complete the training settings by clicking to confirm the rehabilitation training task on the rehabilitation robot side, reducing the workload of doctors.

[0052] Compared with the current training robots used in hospital rehabilitation, which are mainly fixed and easily make patients feel bored during the training process, and the rehabilitation effect is limited, the lower limb rehabilitation robot of the robot training system for remote rehabilitation of the present invention has a simple structure and low cost, which is convenient for promotion and use in hospitals and families, expanding the user group of patients. It is beneficial for the rehabilitation of patients to send remote rehabilitation services to their homes; and remote rehabilitation services can overcome geographical, physical and cognitive barriers, so that doctors can monitor, educate and treat patients in their own environment, and strengthen or even replace traditional forms of rehabilitation treatment. The present invention overcomes the shortcomings of the current training robots or assistive devices used in hospital rehabilitation, so the robot training system for remote rehabilitation of the present invention has strong market competitiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a system composition diagram of the present invention;

[0054] Figure 2 This is the structural diagram of the lower limb rehabilitation robot;

[0055] Figure 3 This is the assembly relationship diagram of the robot body and control module of the lower limb rehabilitation robot;

[0056] Figure 4 This is the working principle diagram of the control module;

[0057] Figure 5 is a flow chart of the present invention;

[0058] Figure 6 A diagram of the human-computer interaction interface between the physician server computer and the rehabilitation robot client computer;

[0059] Among them, 1-patient, 2-MCU, 3-force and position information sampling module, 4-motion unit, 5-weight support unit, 6-force sensor, 7-displacement sensor, 8-displacement transmitter, 9-force transmitter, 10-hub motor, 11-hub drive, 12-weight reduction motor, 13-weight reduction drive, 14-travel limit switch. DETAILED DESCRIPTION

[0060] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0061] This embodiment provides a robot training system for remote rehabilitation, see the attached Figure 1 , including: a physician server computer, a rehabilitation robot client computer, a lower limb rehabilitation robot and a computer network;

[0062] The physician server computer is located in a hospital or a rehabilitation center, and the rehabilitation robot client computer and the lower limb rehabilitation robot are located in the patient's home or the patient's community;

[0063] The physician server-side computer is used by professional physicians to guide patients' rehabilitation training and manage patients' rehabilitation logs. Specifically, professional physicians set rehabilitation training tasks on the physician server-side computer according to patients' rehabilitation training data, and the physician server-side computer remotely dispatches the rehabilitation training tasks to the rehabilitation robot client computer so that professional physicians can guide patients' rehabilitation training; the content of the rehabilitation training tasks includes information such as the lower limb rehabilitation robot number, patient information, training amplitude, training speed and training time, and professional physicians set rehabilitation training tasks remotely to achieve the purpose of simplifying the difficulty of operating the rehabilitation robot; the physician server-side computer is also used to receive patients' rehabilitation training data sent by the rehabilitation robot client computer, and display the patients' rehabilitation training data in real time, so as to help professional physicians understand patients' rehabilitation training status so as to manage patients' rehabilitation logs;

[0064] The rehabilitation robot client computer is used to receive the rehabilitation training task, and after parsing the rehabilitation training task, set various parameters of the lower limb rehabilitation robot to achieve motion control of the lower limb rehabilitation robot; and is also used to feed back the patient's rehabilitation training data to the physician server computer;

[0065] The computer network is a bridge for information transmission between the physician server computer and the rehabilitation robot client computer. The lower limb rehabilitation robot stores the rehabilitation training data in the local database of the rehabilitation robot client computer. Professional physicians and patient family members can access the local database of the rehabilitation robot client computer through the computer network on the physician server computer to view the rehabilitation training data from the patient.

[0066] The lower limb rehabilitation robot is used to perform rehabilitation training on the patient under the control of the rehabilitation robot client computer, and feed back the rehabilitation training data to the rehabilitation robot client computer;

[0067] Among them, see Appendix Figure 2 , the lower limb rehabilitation robot includes: a robot body, a control module, a visual information acquisition module and a body panel human-computer interaction input module;

[0068] The robot body comprises: an overall frame, two motion units 4 and two body weight support units 5;

[0069] The overall frame includes a U-shaped frame and two parallel bases; the two ends of the inverted U-shaped frame are fixed on the two parallel bases; the four corners of the base are respectively equipped with universal wheels; the front side surfaces of the two vertical parts of the U-shaped frame are both equipped with guide rails along the vertical direction and sliders A that slide with them, and the outer side surfaces of the two vertical parts of the U-shaped frame are both equipped with linear slide rails along the vertical direction and sliders B that slide with them;

[0070] The two motion units 4 are symmetrically mounted on two bases, and each motion unit 4 includes a driving wheel, a hub motor 10 and a hub driver 11; the driving wheel is mounted in the middle of the base and supported on the ground, the hub motor 10 is mounted on the base, the output shaft of the hub motor 10 is coaxially connected to the driving wheel, the hub driver 11 is electrically connected to the hub motor 10, and the hub driver 11 is used to drive the output shaft of the hub motor 10 to rotate, thereby driving the driving wheel to rotate, and finally driving the entire frame to move;

[0071] The two weight support units 5 are symmetrically installed on the two vertical parts of the U-shaped frame, and each weight support unit 5 includes a weight-reducing motor 12, a weight-reducing driver 13, a reducer, a spring group, a traction rope, a traction arm, two guide wheels A and two guide wheels B; the traction arm is an L-shaped structure, the vertical part of the traction arm is fixed on the slider A of the overall frame, and the horizontal part is parallel to the base of the overall frame; the two guide wheels A are fixed on the top of the vertical part of the U-shaped frame; the weight-reducing motor 12, the weight-reducing driver 13, and the reducer are all fixed on the bottom of the vertical part of the U-shaped frame, the weight-reducing driver 13 is electrically connected to the weight-reducing motor 12, and the weight-reducing driver 13 is used to drive the weight-reducing The output shaft of the heavy motor 12 rotates, and the output shaft of the lightening motor 12 is connected to the input shaft of the reducer, and the reducer is used to reduce the output of the lightening motor 12; a winder is fixed to the output shaft of the reducer; the spring group is located between the guide wheel A and the reducer, the bottom of the spring group is fixed to the vertical part of the U-shaped frame, the top of the spring group is fixed to the slider B, and two guide wheels B are installed on the top of the spring group; one end of the traction rope is wound on the winder, and the other end goes around a guide wheel A upward, and then goes down and goes around the two guide wheels B at the top of the spring group in turn, and then the other end of the traction rope goes around another guide wheel A upward again, and then goes down and connects to the traction arm again;

[0072] A traction garment is connected between the two traction arms of the two body weight support units 5. When the patient 1 performs rehabilitation training, the patient is located between the two bases of the overall frame and wears the traction garment; the weight reduction driver 13 controls the rotation of the weight reduction motor 12, so that when the traction rope is tightened, the spring group is stretched and the traction arm is pulled upward, thereby providing auxiliary support to the patient 1. At the same time, under the elastic force of the spring group, the patient 1 is further provided with auxiliary support; when the patient 1 walks, the hub motor 10 drives the driving wheel to rotate, thereby driving the overall frame to move, assisting the patient 1 in walking, and realizing the rehabilitation training of the patient 1.

[0073] Participate in the Figure 3-4 The control module includes: a core control board (hereinafter referred to as MCU2), a force and position information sampling module 3, a displacement transmitter 8, a force transmitter 9, a communication module, a power / voltage detection and display module, a 24V lithium battery, a power distribution unit, a power switch, an audible and visual alarm unit, an emergency stop button and a travel limit switch 14;

[0074] The force and position information sampling module 3 includes a force sensor 6 and a displacement sensor 7. The force sensor 6 is used to collect the auxiliary force information (i.e., the weight support adjustment parameter) provided by the body weight support unit 5 for the patient, and transmit the auxiliary force information to the force transmitter 9; the displacement sensor 7 is used to collect the motion information of the patient under the assistance of the lower limb rehabilitation robot, and transmit the motion information to the displacement transmitter 8;

[0075] The force transmitter 9 and the displacement transmitter 8 respectively perform digital-to-analog conversion (i.e. convert analog signals into digital signals) on the received auxiliary force information and motion information, and then send the converted digital signals of the auxiliary force information and motion information to the MCU2;

[0076] The MCU2 is installed on the top of the horizontal part of the U-shaped frame of the overall frame of the robot body. The MCU2 with Cortex-M7 as the core and the main frequency of 400MHz is used. The MCU2 is used to convert the received digital signals of auxiliary force information and motion information into rehabilitation training data (i.e., the daily rehabilitation information in the figure), and send the rehabilitation training data to the rehabilitation robot client computer through the communication module for display; the rehabilitation robot client computer also sends the rehabilitation training data to the physician server computer through the computer network, and feeds it back to the professional physician for review. The professional physician generates rehabilitation parameters (i.e., rehabilitation training tasks) according to the rehabilitation training data. The rehabilitation parameters include the weight support adjustment parameters of the robot body (i.e., training amplitude), the movement time of the robot body (i.e., training time), and the movement speed of the robot body (i.e., training speed), and the rehabilitation parameters are sent to the rehabilitation robot client computer through a computer network. The rehabilitation robot client computer generates a task instruction according to the rehabilitation parameters, and sends the task instruction to MCU2 through a communication module. After MCU2 parses the task instruction, it obtains the adjustment parameters of the robot body's weight loss driver 13 and the wheel hub driver 11, and adjusts the robot body's weight loss and movement speed according to the adjustment parameters to adapt to the patient's weight loss and walking speed;

[0077] The 24V lithium battery is divided by the power distribution unit and is used to supply power to the MCU2, the force and position information sampling module 3, the displacement transmitter, the force transmitter, the communication module, the sound and light alarm unit, and the weight reduction motor 12, the weight reduction driver 13, the hub motor 10 and the hub driver 11 of the robot body (collectively referred to as electrical components);

[0078] The power / voltage detection and display module is used to collect the power and voltage of the 24V lithium battery, and send the detected power and voltage signals to MCU2; MCU2 sends the power and voltage signals to the rehabilitation robot client computer through the communication module for display; the rehabilitation robot client computer simultaneously sends the power and voltage signals to the physician server computer through the computer network, and feeds them back to the professional physician for review;

[0079] The power switch is arranged between the 24V lithium battery and the electrical components, and is used to control whether the 24V lithium battery supplies power to the electrical components; the emergency stop button is arranged between the 24V lithium battery and the wheel hub driver 11, and is used to control whether the wheel hub driver 11 is powered off;

[0080] The travel limit switch 14 is arranged at the top of the linear slide rail of the robot body. When the traction arm moves downward to pull the top of the spring group to rise, and the top of the spring group rises to the travel limit switch 14, the travel limit switch 14 is triggered, and the travel limit switch 14 sends a trigger signal to MCU2. After receiving the trigger signal, MCU2 controls the weight reduction motor 12 to stop working through the weight reduction driver 13 to prevent excessive weight reduction on the patient.

[0081] The sound and light alarm unit is arranged at the top of the horizontal part of the U-shaped frame of the overall frame of the robot body. When the patient falls accidentally, the auxiliary force information collected by the force sensor 6 mutates. After MCU2 detects the mutation of the auxiliary force information, it controls the sound and light alarm unit to make a sound and light alarm, and at the same time controls the wheel hub motor 10 to stop working through the wheel hub driver 11 and controls the weight reduction motor 12 to stop working through the weight reduction driver 13.

[0082] The visual information acquisition module is used to collect audio and video data of the robot body and the patient, and send the audio and video data to the rehabilitation robot client computer. The rehabilitation robot client computer sends the audio and video data to the physician server computer through the computer network for professional physicians to view.

[0083] The human-computer interaction input module of the main body panel adopts a remote control with a display screen, and MCU2 can also send the rehabilitation training data (i.e., the daily rehabilitation information in the figure) to the remote control for display; the patient himself or the patient's family holds the remote control, sets the rehabilitation parameters according to the rehabilitation training data displayed on the remote control, and sends the rehabilitation parameters to the rehabilitation robot client computer through wireless transmission. The rehabilitation robot client computer generates task instructions according to the rehabilitation parameters, and sends the task instructions to MCU2 through the communication module. After MCU2 parses the task instructions, it obtains the adjustment parameters of the robot body's weight loss driver 13 and the wheel hub driver 11, and adjusts the robot body's weight loss and movement speed according to the adjustment parameters to adapt to the patient's weight loss and walking speed.

[0084] Participate in the Figure 5The workflow of the robot training system is as follows: professional physicians formulate rehabilitation plans based on the clinical conditions of the patient's lower limbs, and remotely set the rehabilitation parameters of the robot body through the physician server computer, such as weight support value, rehabilitation training time, robot movement speed, etc.; the specific value of weight support is fed back to the physician server computer through the network transmission by the force sensor 6, and the professional physician can notice the changes in the weight loss value in real time and make appropriate adjustments according to the patient's lower limb strength; during the patient's exercise rehabilitation process, the robot body's force sensor 6 and displacement sensor 7 will collect the patient's lower limb strength change data and body movement state data, and transmit the data to MCU2 for processing, and display it on the rehabilitation robot client computer and the physician server computer interface. The physician analyzes the patient's rehabilitation data through the physician server computer, and based on this data, the patient's rehabilitation effect can be evaluated, and a new round of rehabilitation plans can be formulated for the patient.

[0085] In the interaction between the weight support unit 5 and the control module, RS-422 is used to establish two-way data communication with MCU2; the weight support adjustment parameters are set by operating the remote control or the physician server computer, and the real-time value of the force sensor 6 is sent to MCU2 for processing through the A / D module, and displayed on the display screen of the remote control or the physician server computer via serial communication. Professional physicians understand the specific values ​​of the current weight support adjustment parameters and can use the physician server computer to make appropriate fine adjustments to the weight support adjustment parameters according to the patient's comfort requirements, or MCU2 receives instructions from the remote control and sends them to the two weight loss drivers through the CAN1 bus. 13 sends instructions, and the two weight-reducing motors 12 support the patient's body weight and adjust the patient's body balance according to the instructions; the auxiliary force information collected by the force sensor 6 needs to be sent to MCU2 through the A / D module; if the data fed back by the force sensor 6 (i.e., the auxiliary force information) is close to the set value and fluctuates in a small range around the set value, it indicates that the patient's lower limb strength has recovered well; if the data fed back by the force sensor 6 is always far away from the set value and is in a large fluctuation range, it indicates that the patient's lower limb strength is insufficient and still needs to rely on the body weight support unit 5 to maintain body balance. Such feedback data from the force sensor 6 can help doctors understand the recovery of the patient's lower limb strength.

[0086] During the human-machine interaction process, the movement modes of the lower limb rehabilitation robot are divided into manual mode and automatic mode. In the manual mode, the movement of the robot body is realized by the patient or the patient's family operating the joystick on the remote control, and the two wheel hub drivers 11 receive the control instructions sent by the remote control through the CAN2 bus; after the patient's body balance and lower limb strength are restored, the lower limb rehabilitation robot can be adjusted to the automatic mode to assist the patient's movement rehabilitation; in the automatic mode, the robot body detects the patient's movement posture changes through the displacement sensor 7, and sends the patient's movement information to MCU2 through the transmitter via RS-485; MCU2 sends movement instructions to the two wheel hub drivers 11 through the CAN2 bus to control the robot body to follow the patient to make corresponding movement postures; the patient realizes autonomous control of the robot body, achieving the effect of coordinated movement and active movement of the robot body and itself; secondly, the power display of the robot body is isolated by 24V through a linear optocoupler, and the output signal is 0-5V, and finally the conversion is completed through the chip's own A / D. The rest of the parts, such as limit switches and sound and light alarms, are used together with MCU2 to realize the feedback of various information of the robot body through the I / O interface.

[0087] When the physician server-side computer interacts with the rehabilitation robot client-side computer through a computer network, the physician server-side computer can communicate with the rehabilitation robot-side computer, monitor the data changes of the equipment in real time and read the rehabilitation training data in the local database; professional physicians can evaluate the patient's condition and formulate a rehabilitation plan based on the patient's rehabilitation record in the database, and make appropriate modifications to the patient's rehabilitation training plan; professional physicians adjust the rehabilitation parameters of the lower limb rehabilitation robot through the physician server-side computer and formulate a new rehabilitation training plan, and the lower limb rehabilitation robot performs a new stage of rehabilitation-assisted treatment for the patient based on the new rehabilitation training plan; the rehabilitation robot client-side computer and the physician server-side computer share rehabilitation data through the network, and the shared data includes the patient's personal information and the auxiliary rehabilitation parameters of the lower limb rehabilitation robot.

[0088] The operating software for realizing remote control is installed on both the physician server computer and the rehabilitation robot client computer. The human-computer interaction interface of the operating software is designed with LABVIEW software. Figure 6The interface information of the human-computer interaction interface includes the operation status and various rehabilitation parameters of the lower limb rehabilitation robot, the patient's personal information, remote real-time video images, and the motion data change curve and database during the patient's rehabilitation process; the communication module establishes a data connection between the rehabilitation robot client computer and the MCU2 of the lower limb rehabilitation robot, and realizes wireless data transmission through the WIFI module of MCU2; the rehabilitation training data has high requirements for data integrity and security; secondly, the audio and video data collected by the visual information acquisition module is used as auxiliary monitoring data, and has high requirements for call fluency; the physician server computer uses the TCP protocol to use the operating software as the client in the protocol; the computer network uses the Socket technology to transmit the rehabilitation training data of the rehabilitation robot client computer to the physician server computer to realize remote transmission; the visual information acquisition module uses IPCamera to transmit the patient training screen of the rehabilitation robot to the rehabilitation robot client computer, and finally to the physician server computer, so that professional physicians can remotely observe the rehabilitation process of patients at the rehabilitation training site. IP Camera is a camera that combines traditional cameras and network technology. It transmits video images to the rehabilitation robot client computer through the network, and finally to the physician server computer. Professional physicians supervise the rehabilitation training on site through the operating software.

[0089] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot training system for remote rehabilitation, characterized in that: include: Physician server computer, rehabilitation robot client computer, lower limb rehabilitation robot and computer network; The physician server computer is located in a hospital or a rehabilitation center, and the rehabilitation robot client computer and the lower limb rehabilitation robot are located in the patient's home or the patient's community; The professional physician sets the rehabilitation training task on the physician server computer according to the patient's rehabilitation training data, and remotely dispatches the rehabilitation training task to the rehabilitation robot client computer through the computer network; The rehabilitation robot client computer is used to receive the rehabilitation training task, and after parsing the rehabilitation training task, set various parameters of the lower limb rehabilitation robot to achieve motion control of the lower limb rehabilitation robot; and is also used to feed back the patient's rehabilitation training data to the physician server computer for real-time display; The lower limb rehabilitation robot is used to perform rehabilitation training on the patient under the control of the rehabilitation robot client computer, and feed back the rehabilitation training data to the rehabilitation robot client computer; The lower limb rehabilitation robot comprises: a robot body and a control module; The robot body comprises: an overall frame, two motion units and two body weight support units; The overall frame includes a U-shaped frame and two parallel movable bases; the two ends of the inverted U-shaped frame are fixed on the two bases; the front side surfaces of the two vertical parts of the U-shaped frame are both equipped with guide rails along the vertical direction and sliders A that slide with them, and the outer side surfaces of the two vertical parts of the U-shaped frame are both equipped with linear slide rails along the vertical direction and sliders B that slide with them; The two motion units are symmetrically mounted on two bases, each motion unit comprising a driving wheel, a wheel hub motor and a wheel hub driver; the driving wheel is mounted in the middle of the base and supported on the ground, the wheel hub motor is mounted on the base, the output shaft of the wheel hub motor is coaxially connected to the driving wheel, the wheel hub driver is electrically connected to the wheel hub motor, and the wheel hub driver is used to drive the output shaft of the wheel hub motor to rotate; The two weight support units are symmetrically installed on the two vertical parts of the U-shaped frame, and each weight support unit includes a weight-reducing motor, a weight-reducing driver, a reducer, a spring group, a traction rope, a traction arm, two guide wheels A and two guide wheels B; the traction arm is an L-shaped structure, the vertical part of the traction arm is fixed on the slider A of the overall frame, and the horizontal part is parallel to the base of the overall frame; the two guide wheels A are fixed on the top of the vertical part of the U-shaped frame; the weight-reducing motor, the weight-reducing driver, and the reducer are fixed on the bottom of the vertical part of the U-shaped frame, the weight-reducing driver is electrically connected to the weight-reducing motor, and the weight-reducing driver is used The output shaft of the weight-reducing motor is driven to rotate, and the output shaft of the weight-reducing motor is connected to the input shaft of the reducer, and a winding device is fixed to the output shaft of the reducer; the spring group is located between the guide wheel A and the reducer, the bottom of the spring group is fixed to the vertical part of the U-shaped frame, the top of the spring group is fixedly connected to the slider B, and two guide wheels B are installed on the top of the spring group; one end of the traction rope is wound on the winding device, and the other end is passed around a guide wheel A upward, and then passed around the two guide wheels B at the top of the spring group downward in sequence, and then the other end of the traction rope is passed around another guide wheel A upward again, and then connected to the traction arm downward again; A traction garment is connected between the two traction arms of the two body weight support units. When the patient is undergoing rehabilitation training, the patient is located between the two bases of the overall frame and wears the traction garment; The control module is used to control the rotation of the wheel hub motor through the wheel hub driver, and is used to control the rotation of the weight reduction motor through the weight reduction driver.

2. A robot training system for remote rehabilitation as claimed in claim 1, characterized in that: The control module includes: MCU, force and position information sampling module, displacement transmitter, force transmitter, communication module and lithium battery; The force and position information sampling module includes a force sensor and a displacement sensor. The force sensor is used to collect the auxiliary force information provided by the body weight support unit for the patient, that is, the body weight support adjustment parameter, and transmit the auxiliary force information to the force transmitter; the displacement sensor is used to collect the patient's motion information under the assistance of the lower limb rehabilitation robot, and transmit the motion information to the displacement transmitter; The force transmitter and the displacement transmitter respectively perform digital-to-analog conversion on the received auxiliary force information and motion information, and send the converted digital signals of the auxiliary force information and motion information to the MCU; The MCU is used to form rehabilitation training data from the received digital signals of auxiliary force information and motion information, and send the rehabilitation training data to the rehabilitation robot client computer through the communication module for display; the rehabilitation robot client computer simultaneously sends the rehabilitation training data to the physician server computer through the computer network, and the professional physician generates rehabilitation parameters according to the rehabilitation training data, and the rehabilitation parameters include the weight support adjustment parameters of the robot body, the motion time of the robot body and the motion speed of the robot body, and sends the rehabilitation parameters to the rehabilitation robot client computer through the computer network, and the rehabilitation robot client computer generates task instructions according to the rehabilitation parameters, and sends the task instructions to the MCU through the communication module, and the MCU parses the task instructions to obtain the adjustment parameters of the weight reduction driver and the wheel hub driver of the robot body, and adjusts the weight reduction and motion speed of the robot body according to the adjustment parameters; The lithium battery is used to power the MCU, the force and position information sampling module, the transmitter, the communication module, and the weight-reducing motor, the weight-reducing driver, the hub motor, and the hub driver of the robot body.

3. A robot training system for remote rehabilitation as claimed in claim 2, characterized in that: The control module also includes a power / voltage detection and display module; The power / voltage detection and display module is used to collect the power and voltage of the lithium battery, and send the detected power and voltage signals to the MCU; the MCU sends the power and voltage signals to the rehabilitation robot client computer through the communication module for display; the rehabilitation robot client computer also sends the power and voltage signals to the physician server computer through the computer network.

4. A robot training system for remote rehabilitation as claimed in claim 2, characterized in that: The control module also includes a power distribution unit, a power switch and an emergency stop button; The lithium battery is divided by the power distribution unit and used to supply power to the electrical components respectively; the power switch is arranged between the lithium battery and the electrical components, and is used to control whether the lithium battery supplies power to the electrical components; the emergency stop button is arranged between the lithium battery and the wheel hub driver, and is used to control whether the wheel hub driver is powered off.

5. A robot training system for remote rehabilitation as claimed in claim 2, characterized in that: The control module also includes an audible and visual alarm unit; When the patient falls accidentally, the auxiliary force information collected by the force sensor changes suddenly. After the MCU detects the sudden change in the auxiliary force information, it controls the sound and light alarm unit to sound and light alarm, and at the same time controls the wheel hub motor to stop working through the wheel hub driver and controls the weight reduction motor to stop working through the weight reduction driver.

6. A robot training system for remote rehabilitation as claimed in claim 2, characterized in that: The control module also includes a travel limit switch; The travel limit switch is set at the top of the linear slide rail of the robot body. When the traction arm moves downward and pulls the top of the spring group to rise, and the top of the spring group rises to the travel limit switch, the travel limit switch is triggered, and the travel limit switch sends a trigger signal to the MCU. After receiving the trigger signal, the MCU controls the weight reduction motor to stop working through the weight reduction driver.

7. A robot training system for remote rehabilitation according to any one of claims 1 to 6, characterized in that: The lower limb rehabilitation robot also includes a visual information acquisition module; The visual information acquisition module is used to collect audio and video data of the robot body and the patient, and send the audio and video data to the rehabilitation robot client computer, and the rehabilitation robot client computer sends the audio and video data to the physician server computer through the computer network.

8. A robot training system for remote rehabilitation according to any one of claims 1 to 6, characterized in that: The lower limb rehabilitation robot also includes a body panel human-computer interaction input module; The main body panel human-computer interaction input module adopts a remote controller with a display screen, and the MCU can also send the rehabilitation training data to the remote controller for display; The patient himself or the patient's family holds the remote control, sets the rehabilitation parameters according to the rehabilitation training data displayed on the remote control, and wirelessly transmits the rehabilitation parameters to the rehabilitation robot client computer. The rehabilitation robot client computer generates task instructions based on the rehabilitation parameters, and sends the task instructions to the MCU through the communication module. After parsing the task instructions, the MCU obtains the adjustment parameters of the robot body's weight reduction drive and wheel hub drive, and adjusts the robot body's weight reduction and movement speed according to the adjustment parameters.

Images