An automated mechanical device and a rehabilitation training method for assisting tongue rehabilitation training

Abstract

The application relates to the technical field of medical auxiliary robots, in particular to an automatic mechanical device for assisting tongue rehabilitation training and a rehabilitation training method. The bottom of a sliding seat in the device is provided with a guide rail. The sliding seat slides along the extension direction of the guide rail. The top of the sliding seat is provided with a baffle for mounting a mechanical arm. The power end of the mechanical arm is connected with the baffle. The output end of the mechanical arm is provided with a terminal platform. The terminal platform is provided with a tongue connecting module. The power end of a terminal connecting rod in the tongue connecting module is provided with a rotary motor. The rotary motor is connected with the power end of the terminal connecting rod through a force sensor. The connecting end of the terminal connecting rod is provided with a tongue clamping device. A lifting platform is located on one side of the output end of the mechanical arm. A platform is connected with a stand through a lifting shaft. The platform is provided with a chin support for supporting the chin of a patient. The device realizes passive rehabilitation training and active rehabilitation training modes, guarantees the safety of rehabilitation movement, and improves the tongue rehabilitation training effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical auxiliary robots, in particular to an automatic mechanical device for assisting tongue rehabilitation training and a rehabilitation training method. BACKGROUND

[0002] An effective treatment for tongue cancer patients is mainly in the form of surgical resection. Surgery often removes part of the tongue or even the entire tongue and repairs it with a free flap. However, the transplanted flap has a large defect in terms of movement and sensory function, so that the reconstructed tongue of the patient after surgery is difficult to perform normal pronunciation and swallowing functions. Therefore, postoperative rehabilitation of tongue cancer patients is particularly important. The existing rehabilitation treatment is mainly led by a rehabilitation physician, lacks a unified standard, and requires a high level of rehabilitation physician. With the increase in patients and the growing demand for rehabilitation, the contradiction between the limited number of physicians and the increasing demand for rehabilitation is becoming increasingly apparent. There is a very practical market demand for mechanical devices to assist tongue movement training, stimulate muscle and nerve function, and help the tongue recover motor ability.

[0003] At present, the rehabilitation robots on the market are mostly for upper limb and lower limb rehabilitation training, and the tongue rehabilitation training equipment is still very scarce. According to the search, Chinese patent document CN101518475A discloses a tongue muscle rehabilitation device. The tongue muscle rehabilitation device includes a tongue sleeve and an air pump. The tongue sleeve has a ventilation hole. The tongue sleeve is connected to the air pump through the ventilation hole. In use, the air pump is pressed, the tongue sleeve is placed on the patient's tongue, the air pump forms a negative pressure cavity to adsorb the tongue, and the other end is gripped by hand to perform rehabilitation exercise. Although the tongue muscle rehabilitation device facilitates the movement of the tongue inside the cavity, it still relies on manual traction to achieve the relative movement of the tongue, and the movement displacement of the tongue is difficult to accurately control, which affects the effect of rehabilitation training.

[0004] For example, Chinese patent document CN107715395A discloses a new medical oral composite training device. The composite training device helps the rehabilitation training of the oral muscle, masseter muscle and tongue muscle, can be used as an mouth opener, does not need others to feed, and the patient can perform oral rehabilitation training by himself without the help of others. However, the rehabilitation mechanism for the tongue muscle of the composite training device still relies on manual sliding of the handle at the end to pull and the like, and with the muscle fatigue of the relevant parts held by the hand, the repeatability of the tongue movement is difficult to effectively guarantee.

[0005] For example, a rehabilitation training device for old people is disclosed in Chinese patent document CN113018785A. One side edge of the chair plate in the rehabilitation training device is integrally provided with a horizontally arranged assembly plate. The upper part of the assembly plate is provided with an exercise structure through a support. The exercise structure is used for rehabilitation exercise of atrophied oral occlusal muscles and tongue muscles. Although the rehabilitation training device uses negative pressure to suck the tongue through a fixing device to make the old people swing the head back and forth or left and right, the purpose of stretching and exercising the tongue is achieved. However, the rehabilitation training device has high requirements for the head movement of the rehabilitation patient, and it is still difficult to accurately control the movement displacement of the tongue and ensure the effect of tongue rehabilitation training.

[0006] In summary, in the process of tongue rehabilitation training, how to design an auxiliary training device to accurately control the movement displacement of the tongue, ensure the repeatability of tongue rehabilitation movement, realize the evaluation of the effect of tongue rehabilitation training, and further improve the effect of tongue rehabilitation training has become a technical problem to be solved by those skilled in the art. SUMMARY

[0007] The purpose of the present application is to provide an auxiliary training device for tongue rehabilitation training to accurately control the movement displacement of the tongue, ensure the repeatability of tongue rehabilitation movement, realize the evaluation of the effect of tongue rehabilitation training, and further improve the effect of tongue rehabilitation training.

[0008] To achieve the above-mentioned purpose, the present application adopts the following scheme: an automatic mechanical device for assisting tongue rehabilitation training is proposed, which comprises a sliding seat, a mechanical arm, a lifting platform and an opening device.

[0009] The bottom of the sliding seat is provided with a guide rail, the bottom of the guide rail is connected with the base, the sliding seat slides along the extension direction of the guide rail, and the top of the sliding seat is provided with a baffle for mounting the mechanical arm.

[0010] The power end of the mechanical arm is connected with the baffle, the output end of the mechanical arm is provided with an end platform, the end platform is provided with a tongue connecting module, the tongue connecting module has an end connecting rod, the power end of the end connecting rod is provided with a rotary motor, the rotary motor is connected with the power end of the end connecting rod through a force sensor, the connecting end of the end connecting rod is provided with a tongue clamping device, and the tongue clamping device points to the lifting platform.

[0011] The lifting platform comprises a platform and a stand column, the bottom of the stand column is connected with the base, the lifting platform is located on one side of the output end of the mechanical arm, the platform is connected with the stand column through a lifting shaft, the platform is provided with a chin support for supporting the chin of the patient, the two sides of the chin support are provided with supporting plates, the supporting plates are connected with the top of the lifting shaft, and the fixed end of the opening device is connected with the supporting plates.

[0012] As preferred, the mechanical arm is a three-degree-of-freedom parallel mechanical arm, the three-degree-of-freedom parallel mechanical arm is connected with the baffle through the base plate, the three-degree-of-freedom parallel mechanical arm has three groups of power mechanical arms, the power mechanical arm comprises a first motor, an upper arm connecting plate, an extension connecting rod and a second motor, the first motor is connected with the base plate through a joint frame, an output shaft of the first motor is connected with the upper arm connecting plate, a first end of the extension connecting rod is connected with the upper arm connecting plate through the second motor, the extension connecting rod and the upper arm connecting plate have a rotation axis, the second motor drives the extension connecting rod to rotate around the rotation axis, and a second end of the extension connecting rod is connected with the terminal platform. In this way, the control accuracy of the mechanical arm can be further improved, the inertia of the terminal platform is greatly reduced, the tongue body clamping device is driven to move flexibly, and the training effect of tongue body rehabilitation training is ensured.

[0013] As preferred, the power mechanical arms are arranged in a circular shape on the base plate, and the three groups of power mechanical arms are arranged at equal intervals on the circumference. In this way, the complexity of controlling the three-degree-of-freedom parallel mechanical arm is further optimized.

[0014] As preferred, the tongue body clamping device is a suction cup, and the suction cup is connected with the terminal connecting rod through threads. In this way, according to the specific structure of the tongue body, a suitable suction cup or suction device can be selected, and the suction cup is connected through threads, which is convenient for replacement of the suction cup.

[0015] As preferred, the tongue body clamping device is a gripper, a connecting end of the gripper is connected with the terminal connecting rod, and a clamping end of the gripper has a pair of clamping jaws for clamping the tongue body. In this way, the stability of the tongue body clamping device in clamping the tongue body can be improved, the tongue body is effectively prevented from falling off the tongue body clamping device during tongue body rehabilitation training, and the training effect of tongue body rehabilitation training is further improved.

[0016] As preferred, the platform is connected with the lifting shaft through a flange plate, and the platform is located at the middle part of the lifting shaft. In this way, according to the actual body shape of different patients, the platform is adjusted to be raised or lowered along with the lifting shaft, so that the patient is always in a comfortable posture during rehabilitation training, which is conducive to prolonging the duration of single tongue body rehabilitation training and ensuring the repeatability of tongue body training content.

[0017] As preferred, the fixed end of the mouth opener is provided with a fixed block, the support plate is provided with a groove for mounting the fixed block, the fixed block is embedded in the groove, and the opening end of the mouth opener is located directly above the chin support. In this way, the support plate is used for auxiliary support of the patient, the fixed block of the fixed end of the mouth opener is embedded in the groove on the support plate, the installation and position adjustment of the mouth opener are facilitated, and the position of the mouth opener relative to the chin support is adjusted.

[0018] Preferably, the output shaft of the first motor is connected with the input end of the first harmonic reducer, the output end of the first harmonic reducer is connected with the big arm connecting plate, the output shaft of the second motor is connected with the input end of the second harmonic reducer, and the output end of the second harmonic reducer is connected with the telescopic connecting rod.

[0019] The application further provides a rehabilitation training method using the automatic mechanical device for assisting tongue rehabilitation training.

[0020] Step one: adjust the height of the platform and the opening degree of the mouth opener, so that the chin support supports the chin of the patient and the mouth opener opens the mouth of the patient, adjust the position of the sliding seat, so that the end platform of the mechanical arm is close to the mouth, control the mechanical arm to drive the tongue clamping device to extend into the mouth, and adjust the tongue clamping device to clamp the tongue;

[0021] Step two: control the mechanical arm to drive the tongue clamping device, and then drive the tongue to perform tongue stretching exercise, tongue retracting exercise, tongue upward moving exercise, tongue downward moving exercise, tongue left moving exercise, tongue right moving exercise and tongue turning exercise, wherein the tongue stretching exercise, the tongue retracting exercise, the tongue upward moving exercise, the tongue downward moving exercise, the tongue left moving exercise, the tongue right moving exercise and the tongue turning exercise are passive rehabilitation training, the speed of the passive rehabilitation training is from slow to fast, and the intensity of the passive rehabilitation training is gradually increased;

[0022] Step three: the patient independently controls the tongue to perform active rehabilitation training, the force sensor senses the force direction and force size of the tongue, and the mechanical arm and the rotary motor provide auxiliary force to the tongue to complete the training track.

[0023] Preferably, the active rehabilitation training comprises that the force sensor senses the force direction and force size of the tongue, the motion resistance is continuously increased, and the time and the number of times of completing the training track of the patient are monitored and recorded.

[0024] Compared with the prior art, the automatic mechanical device for assisting tongue rehabilitation training and the rehabilitation training method provided by the application have the following outstanding substantial features and significant progress:

[0025] 1. In the automatic mechanical device for assisting tongue rehabilitation training, the mechanical arm drives the tongue clamping device to extend into the mouth, and the tongue clamping device is adjusted to clamp the tongue, so that the patient is assisted to perform tongue rehabilitation movement training by controlling the mechanical arm, the bondage of traditional doctor artificial rehabilitation training for tongue rehabilitation is broken, the repeatability of tongue rehabilitation movement is ensured, and economic cost is saved.

[0026] 2. The lifting platform of the automatic mechanical device for assisting tongue rehabilitation training adjusts the height of the chin support to adapt to patients with different body sizes, and has repeatability, flexibility, programmable rehabilitation track, less consumption of manpower and financial resources, and good rehabilitation effect;

[0027] 3. The automatic mechanical device for assisting tongue rehabilitation training is connected with the tongue clamping device through the mechanical arm, drives the relative movement of the tongue and the head, accurately controls the movement displacement of the tongue through the program, effectively ensures the repeatability of the rehabilitation movement, solves the change rule of the motor driving force and the trajectory error according to the kinematics and dynamics model of the parallel robot, realizes the real-time quantitative evaluation of the tongue rehabilitation effect, further combines the teaching strategy and the control method, realizes the passive rehabilitation training and the active rehabilitation training mode, ensures the safety of the rehabilitation movement, and improves the effect of the tongue rehabilitation training. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a three-dimensional structure schematic diagram of an automatic mechanical device for assisting tongue rehabilitation training in the embodiment of the present application;

[0029] Figure 2 is a three-dimensional structure schematic diagram of a three-degree-of-freedom parallel mechanical arm;

[0030] Figure 3 is an assembly structure schematic diagram of a guide rail;

[0031] Figure 4 is a three-dimensional structure schematic diagram of a lifting platform;

[0032] Figure 5 is a three-dimensional structure schematic diagram of an open mouth device;

[0033] Figure 6 is a three-dimensional structure schematic diagram of a first tongue connecting module;

[0034] Figure 7 is a three-dimensional structure schematic diagram of a second tongue connecting module;

[0035] Figure 8 is a three-dimensional structure schematic diagram of a third tongue connecting module;

[0036] Figure 9 is a coordinate system definition schematic diagram of a three-degree-of-freedom parallel mechanical arm.

[0037] The drawing mark: base 1, guide rail 2, baffle 3, three degrees of freedom parallel manipulator 4, rotary motor 5, force sensor 6, tongue connecting module 7, mouth opener 8, chin support 9, lifting platform 10, sliding seat 11, joint frame 101, large arm connecting plate 102, first motor 103, base plate 104, telescopic connecting rod 105, second motor 106, end platform 107, platform 301, column 302, lifting shaft 303, flange plate 304, groove 305, left support plate 306, right support plate 307, end connecting rod 401, suction cup 402, suction device 403, gripper 404, fixed block 501, open end 502. DETAILED DESCRIPTION

[0038] The specific embodiments of the application will be described in detail below with reference to the accompanying drawings.

[0039] As shown in Figures 1-8 An automatic mechanical device for assisting tongue rehabilitation training, which is used to accurately control the tongue movement displacement during tongue rehabilitation training, ensure the repeatability of tongue rehabilitation movement, realize the evaluation of tongue rehabilitation training effect, and further improve the effect of tongue rehabilitation training. The automatic mechanical device connects the tongue clamping device through the mechanical arm, drives the relative movement of the tongue and the head. The program is used to accurately control the movement displacement of the tongue, which effectively ensures the repeatability of the rehabilitation movement. According to the kinematics and dynamics model of parallel robot, the change rule of motor driving force and trajectory error are solved to realize real-time quantitative evaluation of tongue rehabilitation effect, further combined with teaching strategy and control method, passive rehabilitation training and active rehabilitation training mode are realized, the safety of rehabilitation movement is ensured, and the effect of tongue rehabilitation training is improved.

[0040] As shown in Figure 1 Combined Figure 3 An automatic mechanical device for assisting tongue rehabilitation training includes sliding seat 11, mechanical arm, lifting platform 10 and mouth opener 8. The bottom of sliding seat 11 is provided with guide rail 2. The bottom of guide rail 2 is connected with base 1. Sliding seat 11 slides along the extension direction of guide rail 2. The top of sliding seat 11 is provided with baffle 3 for installing mechanical arm.

[0041] The power end of mechanical arm is connected with baffle 3. As shown in Figure 2 The output end of mechanical arm is provided with end platform 107. Tongue connecting module 7 is arranged on end platform 107. As shown in Figure 6 Tongue connecting module 7 has end connecting rod 401. The power end of end connecting rod 401 is provided with rotary motor 5. Rotary motor 5 is connected with the power end of end connecting rod 401 through force sensor 6. The connecting end of end connecting rod 401 is provided with tongue clamping device. Tongue clamping device points to lifting platform 10.

[0042] AsFigure 4 As shown in the figure, the lifting platform 10 comprises a platform 301 and a column 302. The bottom of the column 302 is connected with the base 1. The lifting platform 10 is located at the output end side of the mechanical arm. The platform 301 is connected with the column 302 through a lifting shaft 303. The platform 301 is provided with a chin support 9 for supporting the chin of the patient. The chin support 9 is provided with a support plate on each side. The support plate is connected with the top of the lifting shaft 303. The fixed end of the mouth opener 8 is connected with the support plate.

[0043] Among them, the mechanical arm is a three-degree-of-freedom parallel mechanical arm 4. As shown in the figure, Figure 2 As shown in the figure, the three-degree-of-freedom parallel mechanical arm 4 is connected with the baffle 3 through a base plate 104. The three-degree-of-freedom parallel mechanical arm 4 has three groups of powered mechanical arms. The powered mechanical arm comprises a first motor 103, an upper arm connecting plate 102, a telescopic connecting rod 105 and a second motor 106. The first motor 103 is connected with the base plate 104 through a joint frame 101. The output shaft of the first motor 103 is connected with the upper arm connecting plate 102. The first end of the telescopic connecting rod 105 is connected with the upper arm connecting plate 102 through the second motor 106. The telescopic connecting rod 105 and the upper arm connecting plate 102 have a rotation axis. The second motor 106 drives the telescopic connecting rod 105 to rotate around the rotation axis. The tail end of the telescopic connecting rod 105 is connected with an end platform 107. In this way, the control accuracy of the mechanical arm is further improved, the inertia of the end platform 107 is greatly reduced, the tongue body clamping device is driven to move flexibly, and the training effect of tongue rehabilitation training is ensured.

[0044] For example, the powered mechanical arms are arranged in a circle on the base plate 104, and the three groups of powered mechanical arms are arranged at equal intervals on the circumference. In this way, the complexity of controlling the three-degree-of-freedom mechanical arm is further optimized. When the three-degree-of-freedom parallel mechanical arm 4 is used, at the initial moment, the first motor 103 and the second motor 106 are adjusted first, so that the end platform 107 is at the center position of the operation space. Then the baffle 3 is adjusted along the guide rail 2 so that the tongue body clamping device is attached to the front edge of the lifting platform 10, that is, the distance in the Z-axis direction is 0.

[0045] As shown in the figure, Figure 9 As shown in the figure, a coordinate system is established for the three-degree-of-freedom parallel mechanical arm. The position vector P of the center point o of the end platform in the base coordinate system OXYZ is [x y z], and the length of the upper arm connecting plate 102 is l a , the length of the telescopic connecting rod 105 is l b , and the rotation angles of the three first motors are θ1, θ2 and θ3. It is assumed that the base coordinates of the three first motors are A1, A2 and A3, and the intermediate hinge points are B1, B2 and B3. The coordinates of the three connecting points on the end platform are C1, C2 and C3. The process of obtaining the spatial position P of the robot end platform needs to use the kinematics forward solution given the joint motion angles θ1, θ2 and θ3.

[0046] According to the figure and the hinge point distribution relationship, it can be known that A i and C i The expressions in the respective coordinate systems are as follows:

[0047]

[0048] Wherein, α i is a platform angle parameter, α1=0,

[0049] R is the radius of the circle where the three hinge points A1, A2, and A3 at the fixed base are located.

[0050] r is the radius of the circle where the three hinge points C1, C2, and C3 at the end moving platform are located.

[0051] According to the geometric relationship, the position of point B i is obtained:

[0052]

[0053] According to the above , the equation group is obtained:

[0054]

[0055] By solving the above equation group, the results of x, y, and z are obtained:

[0056]

[0057] Wherein, Δ=a1b2-a2b1≠0,

[0058] a1=t+l a (2cos(θ1)-cos(θ2)), c1=2l a (sin(θ2)-sin(θ1));

[0059] a2=t+l a (2cos(θ1)-cos(θ3)), c2=2l a (sin(θ3)-sin(θ1));

[0060]

[0061]

[0062]

[0063]

[0064]

[0065] t = R - r.

[0066] It should be noted that the above analytical solution has a binary value, and when simulated by a computer, the discriminant condition needs to be determined according to the discriminant condition for screening.

[0067] According to the Monte Carlo algorithm, the joint angle is randomly generated by the computer, and the spatial position coordinates of the end motion platform relative to the OXYZ coordinate system are calculated. After repeating n = 100000 times, the following spatial scatter diagram (two colors are only for clear display, and are all reachable position coordinates) can be obtained. According to the distribution of the scatter diagram, the center position of the working space can be estimated as follows:

[0068]

[0069] The value is a theoretical calculation point. In actual application, the first motor and the second motor are adjusted to move so that the center of the end platform reaches the vicinity of the point, which fully guarantees the operation space range of the robot end.

[0070] The telescopic connecting rod 105 can be selected as a telescopic cylinder. The first end of the telescopic cylinder is connected with the output shaft of the second motor. The tail end of the telescopic cylinder is connected with the end platform.

[0071] As shown in Figure 4 , the platform 301 is connected with the lifting shaft 303 through the flange plate 304. The platform 301 is located in the middle of the lifting shaft 303. In this way, according to the actual body shape of different patients, the platform 301 is adjusted to be raised or lowered along with the lifting shaft 303, so that the patient is always in a comfortable posture during the rehabilitation training process, which is beneficial to prolong the length of single tongue rehabilitation training and ensure the repeatability of tongue training content.

[0072] The support plate includes a left support plate 306 and a right support plate 307. The left support plate 306 is provided with a groove 305 for embedding the fixed end of the mouth opener 8.

[0073] As shown in Figure 5 , the fixed end of the mouth opener 8 is provided with a fixed block 501, and the support plate is provided with a groove 305 for mounting the fixed block 501. The fixed block 501 is embedded in the groove 305, and the opening end 502 of the mouth opener 8 is located directly above the chin support 9. In this way, the support plate is used to assist the patient in supporting, and the fixed block 501 of the fixed end of the mouth opener 8 is embedded in the groove 305 on the support plate, which is convenient for the installation and position adjustment of the mouth opener 8, and is beneficial to adjust the position of the mouth opener 8 relative to the chin support 9.

[0074] As shown in Figure 6As shown, the tongue clamping device is a suction cup 402. The suction cup 402 is connected to the end connecting rod 401 through threads. In this way, as shown, Figure 7 As shown, the tongue clamping device is a suction cup 402. The suction cup 402 is connected to the end connecting rod 401 through threads. In this way, as shown,

[0075] As shown, the tongue clamping device is a suction cup 402. The suction cup 402 is connected to the end connecting rod 401 through threads. In this way, as shown, Figure 8 As shown, the tongue clamping device is a suction cup 402. The suction cup 402 is connected to the end connecting rod 401 through threads. In this way, as shown,

[0076] In order to further improve the transmission accuracy of the mechanical arm, the reducers of the motors are all selected as harmonic reducers. The output shaft of the first motor 103 is connected to the input end of the first harmonic reducer, the output end of the first harmonic reducer is connected to the large arm connecting plate 102, the output shaft of the second motor 106 is connected to the input end of the second harmonic reducer, and the output end of the second harmonic reducer is connected to the telescopic connecting rod 105. In this way, it is beneficial to improve the transmission accuracy of the mechanical arm, and further improve the control accuracy of the tongue movement displacement.

[0077] In the embodiment of the present application, an auxiliary tongue rehabilitation training method using an automatic mechanical device is also proposed, which comprises:

[0078] Step one, adjust the height of the platform and the opening degree of the mouth opener, so that the chin support supports the chin of the patient, and the mouth opener opens the mouth of the patient, adjust the position of the sliding seat, so that the end platform of the mechanical arm is close to the mouth, control the mechanical arm to drive the tongue clamping device to extend into the mouth, and adjust the tongue clamping device to clamp the tongue;

[0079] Step two, control the mechanical arm to drive the tongue clamping device, and then drive the tongue to perform tongue stretching exercise, tongue shrinking exercise, upward movement exercise, downward movement exercise, left movement exercise, right movement exercise and turning exercise. Tongue stretching exercise, tongue shrinking exercise, upward movement exercise, downward movement exercise, left movement exercise, right movement exercise and turning exercise are all passive rehabilitation training. The speed of passive rehabilitation training is from slow to fast, and the intensity of passive rehabilitation training is gradually increased.

[0080] Step three, the patient independently controls the tongue to perform active rehabilitation training, the force sensor senses the force direction and force size of the tongue, and the mechanical arm and the rotary motor provide auxiliary force to the tongue to complete the training track.

[0081] The active rehabilitation training includes that force sensors perceive the force direction and the force size of the tongue body, constantly increase the movement resistance, and monitor and record the time and the number of times of the patient completing the training track.

[0082] In step two, passive rehabilitation training is implemented for the postoperative early rehabilitation patients, tongue stretching exercise and tongue retracting exercise: the tongue body of the patient is fixed through the tongue body clamping device, the first motor and the second motor of the three-degree-of-freedom parallel mechanical arm are controlled in linkage, the forward and backward movement of the terminal platform is realized, the tongue body is driven to realize stretching and retracting exercise, and the tongue body is driven to realize stretching and retracting exercise.

[0083] Upward movement exercise, downward movement exercise, left movement exercise and right movement exercise: the tongue body of the patient is fixed through the tongue body clamping device, the first motor and the second motor of the three-degree-of-freedom parallel mechanical arm are controlled in linkage, the upward movement, the downward movement, the left movement and the right movement of the terminal platform are realized, the tongue body is driven to move up and down and left and right in the oral cavity, and the flexibility of the tongue body is increased.

[0084] Rolling exercise: the tongue body of the patient is fixed through the tongue body clamping device, the rotating motor is controlled to drive the tongue body to roll left and right in the oral cavity, and the flexibility of the tongue body is further improved.

[0085] In step three, active rehabilitation training is implemented for the postoperative rehabilitation patients in the middle and late stages with certain activity ability, and the training method is as follows: based on the memory of the action position points of the foregoing passive rehabilitation training, the force direction and the size of the tongue body are perceived through force sensors, auxiliary force is assisted, and the training track is completed.

[0086] The present application is not limited to the specific technical solutions described in the above embodiments, and in addition to the above embodiments, the present application can have other implementation manners. For those skilled in the art, any modification, equivalent replacement, improvement, etc. formed within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An automated mechanical device for assisting tongue rehabilitation training, characterized in that, Includes slides, robotic arms, lifting platforms, and opening devices; The bottom of the slide is provided with a guide rail, the bottom of the guide rail is connected to the base, the slide slides along the extension direction of the guide rail, and the top of the slide is provided with a baffle for mounting the robotic arm. The power end of the robotic arm is connected to the baffle. The output end of the robotic arm is provided with an end platform. The end platform is provided with a tongue connection module. The tongue connection module has an end connecting rod. The power end of the end connecting rod is provided with a rotary motor. The rotary motor is connected to the power end of the end connecting rod through a force sensor. The connection end of the end connecting rod is provided with a tongue gripping device. The tongue gripping device points towards the lifting platform. The lifting platform includes a platform and a column. The bottom of the column is connected to the base. The lifting platform is located on one side of the output end of the robotic arm. The platform is connected to the column through a lifting shaft. A chin support is provided on the platform to support the patient's chin. Support plates are provided on both sides of the chin support. The support plates are connected to the top of the lifting shaft. The fixed end of the mouth opener is connected to the support plates. The robotic arm is a three-degree-of-freedom parallel robotic arm, which is connected to a baffle via a base plate. The three-degree-of-freedom parallel robotic arm has three sets of powered robotic arms, each of which includes a first motor, a large arm connecting plate, a telescopic link, and a second motor. The first motor is connected to the base plate via a joint frame, and its output shaft is connected to the large arm connecting plate. The first end of the telescopic link is connected to the large arm connecting plate via the second motor, and there is a rotation axis between the telescopic link and the large arm connecting plate. The second motor drives the telescopic link to rotate around the rotation axis, and the tail end of the telescopic link is connected to the end platform. The powered robotic arms are arranged in a circular pattern on the substrate, and the three sets of powered robotic arms are arranged at equal intervals on the circumference.

2. The automated mechanical device for assisting tongue rehabilitation training according to claim 1, characterized in that, The tongue gripping device is a suction cup, which is connected to the end connecting rod by threads.

3. The automated mechanical device for assisting tongue rehabilitation training according to claim 1, characterized in that, The tongue gripping device is a gripper, the connecting end of which is connected to the end connecting rod, and the gripping end of which has a pair of grippers for gripping the tongue.

4. The automated mechanical device for assisting tongue rehabilitation training according to claim 1, characterized in that, The platform is connected to the lifting shaft via a flange, and the platform is located in the middle of the lifting shaft.

5. The automated mechanical device for assisting tongue rehabilitation training according to claim 1, characterized in that, The fixed end of the mouth opener is provided with a fixing block, and the support plate is provided with a groove for the fixing block to be installed. The fixing block is embedded in the groove, and the opening end of the mouth opener is located directly above the chin support.

6. The automated mechanical device for assisting tongue rehabilitation training according to claim 1, characterized in that, The output shaft of the first motor is connected to the input end of the first harmonic reducer, the output end of the first harmonic reducer is connected to the boom connecting plate, the output shaft of the second motor is connected to the input end of the second harmonic reducer, and the output end of the second harmonic reducer is connected to the telescopic connecting rod.

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