A postoperative lower limb rehabilitation system

Abstract

The present invention relates to a postoperative lower limb rehabilitation system, which at least includes a bearing part for bearing a patient's limbs; a braking part for limiting limb movement; a host for controlling the braking part; the bearing part at least includes a monitoring module arranged in the bearing part. The monitoring module can at least obtain shape information and posture information of the patient's limbs. The host adjusts the braking parameters of the braking part based on the shape information and posture information of the limbs obtained by the monitoring module. The postoperative lower limb rehabilitation system provided by the present invention can be suitable for patients of different body shapes and performing different micro-movements by dynamically adjusting the restriction range of the braking component on the patient's lower limbs. The braking component can fit closely to the skin of the patient's lower limbs, reduce excessive pressure on the skin of the lower limbs while limiting the lateral movement of the patient's lower limbs, and improve the recovery efficiency and comfort of the patient's lower limbs.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a postoperative lower limb rehabilitation system. Background Art

[0002] Interventional surgery usually chooses to perform femoral artery puncture. Arterial hemostasis is relatively difficult to stop bleeding from veins, so arterial hemostasis usually requires pressure bandage and requires patients to lie flat on the bed for 24 hours. Therefore, it is very important to brake the lower limbs of patients after interventional surgery. If activities such as bending the knees are performed early, unexpected hematomas may occur. The existing brake device structure is relatively fixed, and is mainly used to prevent bleeding or hematomas at the puncture site after interventional surgery and ensure the stability of vascular access. The brake device for interventional surgery generally includes a base, a fixed rod, a pressure block, a fixed box, a rotating column, a connecting belt and other components. By adjusting the length and angle of the fixed rod and the connecting belt, it can adapt to the size and shape of the lower limbs of different patients. However, since it needs to be adjusted manually, the braking effect is inconsistent for patients of different body types, and even for some patients of certain body types, there is no braking effect at all. For example, for patients with more lower limb fat, the braking of their lower limbs cannot achieve a limiting effect. The depression of subcutaneous fat will enable the patient to still perform the corresponding movement process, and even get rid of the limitation of the brake device.

[0003] In addition, existing braking devices are usually unable to adjust the braking pressure and can only press the same part of the lower limb for a long time, which not only causes discomfort to the patient, but also easily leaves indentations on the skin surface, and easily causes local blood circulation problems, local pressure sores, etc. Long-term single pressure compression will affect the patient's blood circulation, increase the risk of deep vein thrombosis, and even affect the healing of the puncture site, leading to bleeding or infection.

[0004] Chinese patent CN 106618906B discloses a lower limb immobilization device for post-vascular interventional surgery, including a bracket and a compression device and an alarm device installed on the bracket. A weight block is placed in the compression device to implement compression hemostasis at the femoral artery puncture point. When the limb contacts the alarm device, an alarm will be triggered. The lower limb immobilization device can not only play the role of compression hemostasis of heavy objects, but also prevent excessive knee flexion of the lower limbs under a certain degree of activity, so that patients can do ankle pump exercises regularly. It can not only effectively prevent patients from developing deep vein thrombosis of the lower limbs after immobilization, but also reduce the psychological pressure and tension of patients, improve sleep quality, and have high clinical application value. However, the defect of this patent is that it is difficult to apply to the lower limb immobilization of patients with different body types, especially for patients with different lower limb thickness, their lower limb immobilization cannot have a good comfort, which leads to pressure sores or local blood circulation problems. The pressure and distance required to limit the lower limbs of patients with different body types are different. It is difficult to achieve a good braking effect by relying on the naked eye control of medical staff, and it is also easy to cause a variety of clinical complications. For example, when a large patient uses the compression device, even if the height of the compression device can be adjusted through a simple adjustment structure, the thighs of large patients are often thicker, which will affect the left and right supporting parts of the compression device. If the patient bends his legs sideways, the alarm device cannot correctly calibrate the patient's lower limb posture. In addition, the patent limits the patient's lower limb movement by applying a gravity block to a single part, which often causes the gravity block to be applied to the patient's thigh. If the same compression force is applied to the patient's thigh without distinguishing according to the physique, the limiting effect cannot achieve effective feedback. Large patients themselves have a higher tolerance to pressure, and this limiting method cannot achieve a good limiting effect.

[0005] Chinese patent CN 113274264A discloses a lower limb braking patient fixation and alarm device, comprising a bracket, a bottom box fixedly connected between the front and rear ends of the inner wall of the bracket, a driving box slidably connected to both sides of the top of the inner wall of the bottom box, a driving motor installed at the bottom of the two inner walls of the driving boxes, a gear corresponding to the driving motor is rotatably connected to the front ends of the outer walls of the two driving boxes, a roller is rotatably connected to the rear ends of the outer walls of the two driving boxes, and a rack and a slide rail corresponding to the gear and the roller are respectively fixedly connected to the front and rear ends of the bottom of the inner wall of the bottom box. The patent provides a bottom box, a driving box, a driving motor, a gear, a roller, a rack, a slide rail, a first telescopic rod, a first control box and a first airbag on the bracket, so that the patient's limbs can be massaged at various parts, thereby greatly increasing the comfort of the device and facilitating the patient's recovery. However, the defect of the patent is that the patient's lower limbs are forced not to move by a fixed and completely prohibited movement restriction structure, and any movement of the patient's lower limbs that deviates from the limited posture is restricted. For patients, being in a forced posture for a long time causes their muscles to be unable to relax and remain in a state of tension for a long time. Fatigue injuries cause back pain, limb numbness, and discomfort to patients. For patients with large bodies, if the fixed position is a softer part of the lower limbs, the depression caused by the compression will cause the patient's lower limb posture to shift, resulting in inaccurate braking. The force transmission to the rest of the patient's lower limbs increases the risk of pressure sores. Therefore, the device cannot be adaptively adjusted according to the individual differences and posture changes of the patient, affecting the patient's comfort and rehabilitation efficiency.

[0006] In addition, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making the present invention, but due to space limitations, not all details and contents are listed in detail. However, this does not mean that the present invention does not have the characteristics of these prior arts. On the contrary, the present invention already has all the characteristics of the prior art, and the applicant reserves the right to add relevant prior art to the background technology. Summary of the invention

[0007] In view of the deficiencies of the prior art, the present invention provides a postoperative lower limb rehabilitation system, which at least includes: a bearing part for bearing the patient's lower limbs; a braking part for limiting the movement of the patient's lower limbs; and a host for controlling the braking part. The bearing part at least includes a monitoring module arranged in the bearing part. Preferably, the monitoring module can at least obtain the shape information and posture information of the limbs. The host establishes and corrects the lower limb image and / or lower limb model based on the shape information and posture information of the limbs obtained by the monitoring module, so as to adjust the braking parameters of the braking part in a manner that limits the movement trend of the lower limbs. The postoperative lower limb rehabilitation system provided by the present invention can be suitable for patients of different body shapes and with different micro-movements by dynamically adjusting the restriction range of the braking component on the patient's lower limbs. The braking component can fit the patient's lower limb skin tightly, reduce excessive pressure on the lower limb skin while limiting the lateral movement of the patient's lower limbs, and improve the recovery efficiency and comfort of the patient's lower limbs.

[0008] According to a preferred embodiment, the monitoring module at least includes a first monitoring module arranged at the bottom of the bearing part. Preferably, the first monitoring module at least monitors the lower limb width of several braking points of the lower limbs of patients with different body mass indexes. The host adjusts the lateral restriction range of the braking point based on the lower limb width of the braking point. The host controls the movement of the braking assembly of the braking part until the distance between the paired braking assemblies is equal to the lower limb width of the braking point. The present invention constructs the lower limb contour of the patient through the first monitoring module, and thereby controls the braking parameters of the braking assembly through the host, thereby realizing accurate restriction of the patient's lower limbs and achieving high-quality and efficient lower limb braking effect.

[0009] According to a preferred embodiment, the brake assembly of the brake part is divided into at least a first brake assembly and a second brake assembly, wherein the first brake assembly and the second brake assembly are arranged alternately in the length direction of the bearing part, and the first brake assembly and the second brake assembly brake the lower limb alternately according to a preset cycle. The first brake assembly and the second brake assembly alternately limit the lateral displacement of the lower limb at different braking points to avoid the problem of local swelling and local pressure sores at the same position of the lower limb caused by long-term compression.

[0010] According to a preferred embodiment, the monitoring module also includes a second monitoring module arranged on the side of the bearing part. The second monitoring module at least monitors the position information and movement information of the knee part of the lower limbs of patients with different body mass indexes. Preferably, the host adjusts the position of the pressing assembly of the braking part for adjusting the vertical limit range based on the position information of the knee part. The position of the knee part of the lower limb is obtained according to the second monitoring module, and then the position of the pressing assembly of the braking part in the length direction of the bearing part is adjusted to ensure that the pressing assembly is accurately pressed at the knee part of the lower limb, thereby ensuring that the knee part cannot rise, thereby avoiding bending of the lower limb.

[0011] According to a preferred embodiment, at least a pressure-sensitive sensor for detecting the pressure change of the pressing assembly is provided in the pressing assembly. Preferably, the host adjusts the pressure of the pressing assembly based on the movement information of the knee part and the pressure change of the pressing assembly. When the knee part has a tendency to move upward, the vertical pressing force of the pressing assembly is increased.

[0012] According to a preferred embodiment, the first monitoring module is provided with at least two infrared probes to monitor the thermal radiation of the lower limbs of patients with different body mass indexes in a multi-angle manner to obtain the shape information and / or posture information of the lower limbs. The host establishes a lower limb image and / or a lower limb model based on the obtained lower limb shape information and / or posture information. The lower limb contour is acquired by a plurality of infrared probes to determine the braking parameters of the braking assembly in the lateral restriction range. The patient's lower limb image and / or lower limb model thus obtained has high accuracy and is suitable for precise control of the host. Compared with the prior art method that relies on the naked eye adjustment of medical staff or the automatic adjustment of each elastic mechanism, the method of obtaining the lower limb contour and then making corresponding adjustments is more accurate. Especially for the existing treatment environment, contactless protection is required, and how to perform automatic adjustment is a very important technical means. The pressure and distance required to limit the lower limbs of patients of different body types are different, and it is difficult for medical staff to judge the difference with the naked eye, and the automatic adjustment of each elastic mechanism will cause discomfort to patients of different body types. Especially for large patients, their elastic mechanisms are prone to form pressure sores on the lower limbs of patients, resulting in a variety of clinical complications.

[0013] According to a preferred embodiment, the second monitoring module obtains the position information and motion information of the patient's knee under different body mass indexes in a manner of image acquisition. The host corrects the lower limb image and / or lower limb model based on the acquired position information of the knee, so that the host adjusts the position of the pressing component in the vertical limit range and the braking parameters of the braking component in the lateral limit range based on the lower limb image and / or lower limb model. After obtaining the corresponding patient lower limb image and / or lower limb model by the above method, it is possible to realize real-time monitoring of the patient's lower limbs, thereby adjusting the braking parameters of the braking part, and solving the problem of difficulty in lateral and vertical adjustment of the braking part. This solution can adapt to patients of different body shapes, ensure that the relevant information obtained is highly accurate, and the acquisition is obtained through both lateral and vertical aspects, further improving the accuracy of the control of the braking part, and solving the dual problems of slow real-time action of infrared acquisition and slow contour judgment of image acquisition.

[0014] According to a preferred embodiment, when the lower limb image and / or the lower limb model are monitored to change, the host is configured to: determine the braking point position of the lower limb; according to the determined braking point position of the lower limb, control the end of the first braking component and / or the second braking component close to the lower limb to move and contact in a manner close to the braking point position, and control the first braking component and / or the second braking component to apply a target pressure to the braking point of the lower limb in the braking part so that the lower limb remains straight. For the braking of the patient's lower limbs, especially for the braking of the lower limbs of patients with different signs, the selection of the braking point position and braking parameters of the lower limbs is very important. The patient's lower limbs also have parts with different softness, including harder knee parts, ankle parts, bones and softer muscles. If the braking component does not distinguish and applies the same pressing force to different parts, first of all, its limiting effect cannot achieve proportional feedback, and the softer parts are difficult to achieve a better limiting effect, and it is also easy to cause pressure sores. Secondly, due to the depression of the softer parts, the expected posture of the patient's lower limbs is offset, resulting in inaccurate braking and discomfort to the patient. The present invention focuses on the selection of the braking point position, thereby limiting the movement of the patient's lower limbs and avoiding unexpected hematomas caused by displacement or bending of the lower limbs. Different braking pressures are adjusted according to the braking point position and are suitable for patients of different body types, thereby reducing the possibility of pressure sores on the skin surface and avoiding local blood pressure stagnation.

[0015] In the prior art, the braking of the patient's lower limbs is often performed by forcing the patient's lower limbs not to move through a fixed and completely movement-prohibiting restriction structure, which fixes the patient's lower limbs and restricts any movement of the patient's lower limbs that deviates from the limited posture, so that they return to their original position. However, the braking of the lower limbs of patients, especially patients of different body types, cannot be so simple in most cases. How to prevent the patient's discomfort and the resulting pressure sores while ensuring that the patient's lower limbs do not move over a large range and braking the lower limbs is a problem that the prior art urgently needs to solve.

[0016] According to a preferred embodiment, when the monitoring module obtains the shape information, posture information, position information of the knee and / or movement information of the lower limbs, the monitoring object of the monitoring module is configured as at least one change position and / or at least one state parameter of the change position corresponding to the lower limbs, so as to select at least one braking point position based on the traversed change position state parameters, so that the braking component and / or pressing component can actually act on the lower limbs based on the selected braking point position. The present invention accurately regulates the braking distance and pressing force of the braking component and the pressing component through the setting of the braking component and the pressing component, and obtains the patient's lower limb image and / or lower limb model through the monitoring module, so as to avoid the patient from developing pressure sores.

[0017] According to a preferred embodiment, the host controls at least one of the brake components to move toward the patient to contact the patient at different brake points of the lower limbs in the first time series based on the deviation of the acquired lower limb image and / or lower limb model from the preset posture; in the second time series, based on the degree of conformity of the lower limb image and / or lower limb model with the preset posture, several brake components with a degree of conformity lower than a threshold are retracted; in the third time series, several brake components that restrict the lower limbs are controlled to restore the lower limb posture to the initial posture. The present invention implements the restriction of the patient first through the planning of the time series, and then improves the monitoring and regulates the brake components according to the monitoring results, so as to quickly respond to the changes in the patient's lower limbs, and can brake the brake components that may contact the patient's lower limbs at the first time to prevent the lower limbs from continuing to move. The selection of targeted restriction schemes for several brake points of the patient's lower limbs can reduce the difficulty of host data processing and the patient's discomfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the connection relationship of simplified information interaction modules of a postoperative lower limb rehabilitation system according to a preferred embodiment of the present invention;

[0019] Figure 2 It is a simplified module structure cross-sectional view of a postoperative lower limb rehabilitation system according to a preferred embodiment of the present invention;

[0020] Figure 3 It is a side sectional view of a simplified module structure of a postoperative lower limb rehabilitation system according to a preferred embodiment of the present invention.

[0021] Reference numerals list

[0022] 100: bearing part; 110: lower limb bearing area; 120: buttocks bearing area; 130: waist bearing area; 111: first monitoring module; 112: second monitoring module; 131: air cushion; 200: braking part; 21O: braking assembly; 211: first braking assembly; 212: second braking assembly; 220: pressing assembly; 230: blood pressure control assembly; 221: pressure sensitive sensor; 300: host. DETAILED DESCRIPTION

[0023] The following is a detailed description with reference to the accompanying drawings.

[0024] Example 1

[0025] Interventional surgery usually chooses to perform femoral artery puncture. Arterial hemostasis is more difficult than venous hemostasis, so arterial hemostasis usually requires pressure bandage and requires the patient to lie flat on the bed for 24 hours. Therefore, it is very important to brake the patient's lower limbs after interventional surgery. If activities such as bending the knees are performed in the early stage, unexpected hematomas may occur. The structure of existing braking devices is relatively fixed, and the braking effect is inconsistent for patients of different body types, and even has no braking effect at all for patients of certain body types. In addition, existing braking devices are usually unable to adjust the braking pressure and can only press on the same part of the lower limbs for a long time. While causing discomfort to the patient, it is also easy to leave indentations on the skin surface, and it is also easy to cause local blood circulation problems, local pressure sores, and other conditions.

[0026] The postoperative lower limb rehabilitation system provided by the present invention can be applied to patients of different body shapes and with different micro-movements by dynamically adjusting the restriction range of the brake assembly 210 on the patient's lower limbs. The brake assembly 210 can fit closely to the skin of the patient's lower limbs, while limiting the lateral movement of the patient's lower limbs, reducing excessive pressure on the skin of the lower limbs, and improving the recovery efficiency and comfort of the patient's lower limbs.

[0027] The present invention provides a postoperative lower limb rehabilitation system. The postoperative lower limb rehabilitation system provided in this embodiment at least includes: a bearing part 100, which is at least used to bear the patient's lower limbs; a braking part 200, which is at least used to limit the movement of the patient's lower limbs. Preferably, the bearing part 100 at least includes a monitoring module arranged at the bottom. Preferably, the monitoring module can at least obtain the shape information and posture information of the lower limbs. Figure 1As shown, the host 300 adjusts the braking parameters of the braking part 200 based on the lower limb shape and posture information obtained by the monitoring module. Preferably, the braking parameters include at least a lateral limit range and a vertical limit range. Preferably, the monitoring module includes at least a first monitoring module 111, which is arranged at the bottom of the bearing part 100. Preferably, the first monitoring module 111 at least monitors the lower limb width of several braking points from the thigh part of the lower limb to the calf part. The first monitoring module 111, for example, uses infrared thermal imaging to obtain the above-mentioned lower limb shape information and / or posture information. More specifically, the width of the patient's lower limb at each braking point is inconsistent. For example, the thigh is wide and the calf is narrow, and it needs to be adjusted according to the specific position. Preferably, based on the width of the patient's lower limb at the braking point, the host 300 adjusts the lateral limit range of the braking point. Preferably, the host 300 controls the movement of the braking assembly 210 of the braking part 200 until the distance between the paired lateral brakes is equal to the lower limb width at the braking point. The driving mode of the braking assembly 210 can be set by itself, for example, driven by a mechanical structure, or set by a pneumatic structure.

[0028] According to a preferred embodiment, the brake assembly 210 of the brake part 200 is at least divided into a first brake assembly 211 and a second brake assembly 212. Preferably, the first brake assembly 211 and the second brake assembly 212 are arranged alternately in the length direction of the bearing part 100. Preferably, the first brake assembly 211 and the second brake assembly 212 alternately brake the patient's lower limbs according to a preset cycle. The surface of the brake assembly 210 in contact with the skin of the patient's lower limbs is coated with a hydrophilic coating to reduce the friction between the brake assembly 210 and the patient's skin. The first brake assembly and the second brake assembly alternately limit the lateral displacement of the lower limbs at different braking points to avoid the problem of local swelling and local pressure sores at the same position of the lower limb caused by long-term compression. The first brake assembly 211 and the second brake assembly 212 are used to support the patient's lower limbs in the first direction, while the compression assembly 220 is used to support the patient's lower limbs in the second direction. The above-mentioned first direction refers to a direction parallel to the sagittal axis of the patient, representing two directions perpendicular to the sagittal axis. The first brake assembly 211 and the second brake assembly 212 apply braking force to the patient's lower limbs in the first direction. The second direction is a direction parallel to the coronal plane of the patient, and represents two directions perpendicularly passing through the coronal plane. The pressing component 220 applies a pressing force to the lower limb of the patient in the second direction.

[0029] According to a preferred embodiment, the monitoring module at least includes a second monitoring module 112, which is arranged on the side of the bearing part 100. Preferably, the second monitoring module 112 at least monitors the position information and movement information of the knee part of the lower limb. The second monitoring module 112 can obtain the knee position of different leg lengths by infrared light or the like. The movement information is mainly judged according to whether the patient's knee moves upward. Preferably, the host 300 adjusts the position of the pressing component 220 of the brake part 200 for adjusting the vertical limit range based on the position information of the knee part. The pressing component 220 of the brake part 200 can at least move in the length direction of the bearing part 100. Preferably, at least a pressure-sensitive sensor 221 is arranged inside the pressing component 220, which can detect the pressure change of the pressing component 220. Preferably, the host 300 adjusts the pressure of the pressing component 220 based on the movement information of the knee part and the pressure change of the pressing component 220, and increases the vertical pressing force when the knee part has a tendency to move upward to avoid bending of the lower limb. Specifically, the pressing component 220 is mainly used to suppress the knee part from moving upward. For the lower limbs, if they need to bend, the knees will inevitably move upwards. On the contrary, the movement of suppressing the knees can effectively limit the bending of the legs. Body mass index refers to BMI, i.e., Quetelet index, which is a standard commonly used internationally to measure the fatness and health of the human body. It should be noted that the horizontal direction in the present invention refers to the direction parallel to the patient's lying plane and perpendicular to the patient's height direction when the patient is in a lying state. The vertical direction in the present invention refers to the direction perpendicular to the patient's lying plane when the patient is in a lying state. The brake assembly 210 limits the lateral movement of the lower limbs in an interval arrangement, and the brake point is the point where the brake assembly 210 contacts the skin of the lower limbs. According to the second monitoring module 112, the position of the knee of the lower limb is obtained, and then the position of the pressing assembly 220 of the brake part 200 in the length direction of the bearing part 100 is adjusted to ensure that the pressing assembly is accurately pressed at the knee of the lower limb, thereby ensuring that the knee cannot rise, thereby avoiding bending of the lower limb.

[0030] According to a preferred embodiment, Figure 3 As shown, the braking part 200 also includes a blood-stopping control component 230 that can assist in hemostasis. The blood-stopping control component 230 mainly assists the hemostasis equipment in hemostasis to avoid massive bleeding from the interventional puncture site. Preferably, the bearing part 100 includes a buttocks bearing area and a waist bearing area, and the waist bearing area is at least provided with an air cushion 131. The air cushion 131 can be used for support and adjustment of the waist, and the tightness of the waist can be adjusted by inflation and deflation. In addition, the bearing part 100 is divided into a bottom plate and an upper cover, and the shape of each part is specifically designed according to the shape of a human body part. An air supply component can be provided inside the device to ensure gas circulation in the bearing part 100 and avoid stuffiness in the lower limbs. As shown in FIG. Figure 2The simplified modular structure cross-sectional view shown includes a lower limb support area 110 , a hip support area 120 and a waist support area 130 .

[0031] According to a specific embodiment of the present invention, the structure of the main body is, for example, a processor, a driver, an input / output port, and a network interface. The above components can be connected by a communication bus. The processor can be a general-purpose central processing unit CPU, an application-specific integrated circuit ASIC, a microprocessor, or one or more integrated circuits to execute relevant instructions or programs to implement the technical solution of the present invention.

[0032] According to a preferred embodiment, the first monitoring module 111 at least monitors the lower limb width of several braking points from the thigh part of the lower limb to the calf part. The first monitoring module 111, for example, uses infrared to achieve the acquisition of the above-mentioned lower limb shape information and / or posture information. Preferably, the first monitoring module 111 is provided with at least two infrared probes to obtain the patient's lower limb shape information and / or posture information, so as to accurately determine the patient's lower limb condition. The present invention locates the braking point by setting at least two infrared probes, without the need for additional confirmation by medical staff, to prevent the error of the braking point positioning caused by the medical staff's misoperation. The infrared probe can be embedded in the bearing part 100 and align the patient's lower limb direction at different angles. Preferably, at least two infrared probes monitor the patient's lower limbs for thermal radiation in a multi-angle manner to obtain the patient's lower limb shape information and / or posture information. The judgment of the medical staff on the patient's lower limb is used as the calibration of the lower limb shape information and / or posture information, thereby reducing the error of manual judgment. At least two infrared probes can monitor the contour of the patient's lower limb in the direction of the patient's lower limb. That is, the thermal radiation signal of the patient's lower limbs is collected by at least two infrared probes, and the thermal radiation signal is transmitted to the host 300, so as to generate the patient's lower limb image. The host 300 determines several braking points on the above-mentioned patient's lower limb image, so as to adjust the braking parameters of the braking part 200. Specifically, when collecting the thermal radiation signal of the patient's lower limb, at least two infrared probes obtain several thermal radiation signals of different visual angles of the patient's lower limb at several angles. After the several thermal radiation signals are sent to the host 300, the corresponding several patient's lower limb images are obtained. Preferably, for the several formed patient's lower limb images, multiple pieces of data can be registered, so as to fuse the several patient's lower limb images and perform point cloud data network fusion. That is, the coordinates of the several patient's lower limb images in the two-dimensional coordinate axis are converted into the coordinates in the three-dimensional coordinate axis by means of matrix, homogeneous coordinates and least squares method, so as to construct an accurate patient's lower limb image that meets the several infrared detection monitoring. Preferably, the above-mentioned patient's lower limb image can also be a patient's lower limb model. The patient's lower limb image and / or lower limb model established by the above method has high accuracy, can accurately obtain the patient's lower limb contour, avoid the unstable factors of manual judgment, and the infrared way of obtaining information does not directly contact the patient, and does not require secondary confirmation by medical staff, thereby ensuring a safe distance for treatment. Preferably, medical staff can calibrate the patient's lower limb image and / or lower limb model. The calibration refers to the medical staff further confirming the accuracy of the image and / or model. Preferably, at least three infrared probes can also be set to determine the contour of the patient's lower limb at another angle. If the patient is large in size and has relatively sturdy lower limbs, when infrared acquisition is performed on the patient's lower limbs, it may exceed the extended range that can be detected by the two infrared probes, and it is difficult to accurately detect the excess part.The third infrared probe can detect the excess part of the patient with the special body shape to improve the accuracy of the patient's lower limb image and / or lower limb model. It is understandable that several infrared devices can be added to further improve the establishment of the patient's lower limb image and / or lower limb model. The details of the infrared device and the correction and improvement of the implementation method should all be within the scope of protection of the present invention.

[0033] The advantage of this arrangement is that the contour of the patient's lower limbs is obtained through a number of infrared probes to determine the braking parameters of the brake assembly 210 within the lateral restriction range. The patient's lower limb image and / or lower limb model obtained thereby has high accuracy and is suitable for precise control of the host 300. Compared with the prior art method that relies on the naked eye adjustment of medical personnel or the automatic adjustment of each elastic mechanism, the method of obtaining the contour of the lower limb and then making corresponding adjustments is more accurate. In particular, contactless protection is required in the existing treatment environment, and how to perform automatic adjustment is a very important technical means. The pressure and distance required to limit the lower limbs of patients of different body types are different, and it is difficult for medical personnel to judge the difference with the naked eye, and the automatic adjustment of each elastic mechanism will cause discomfort to patients of different body types. In particular, for large patients, their elastic mechanisms are prone to form pressure sores on the patient's lower limbs, resulting in a variety of clinical complications. In this regard, the present invention constructs the contour of the patient's lower limbs through the first monitoring module 111, and thereby controls the braking parameters of the brake assembly 210 through the host 300, so as to achieve precise restriction of the patient's lower limbs and achieve high-quality and efficient lower limb braking effects.

[0034] According to a preferred embodiment, the second monitoring module 112 at least monitors the position information and motion information of the knee of the lower limb. The second monitoring module 112 can obtain the knee position of different leg lengths by infrared light or other means. Preferably, the second monitoring module 112 further establishes the patient's lower limb image and / or lower limb model by image acquisition. The lower limb shape information and / or posture information obtained by the first monitoring module 111 can accurately describe the shape and posture of the patient's lower limb, but the real-time motion judgment of the patient's lower limb is relatively slow. In this regard, the present invention is supplemented by the second monitoring module 112, and the patient's lower limb image and / or lower limb model obtained by the first monitoring module 111 is corrected by image acquisition or infrared light acquisition, so that the host 300 adjusts the position of the pressing component 220 in the vertical limit range and the braking parameters of the braking component 210 in the lateral limit range based on the patient's lower limb image and / or lower limb model. Preferably, the host 300 corrects the patient's lower limb image and / or lower limb model obtained by the first monitoring module 111 based on the position information of the patient's knee. The second monitoring module 112 is arranged on the side of the bearing part 100. The second monitoring module 112 can be, for example, a camera for image input. When the patient brakes the lower limbs, the image of the patient's knee is acquired by the second monitoring module 112, and the host 300 performs image recognition to correct the patient's lower limb image and / or human body model. The image can be a frame in a photo or video acquired by the second monitoring module 112. Preferably, for the above-mentioned image recognition method, the host 300 can use the ReID pedestrian re-identification technology to process the collected knee part to obtain the position information and motion information of the patient's knee part, so as to correct the corresponding patient's lower limb image and / or lower limb model. It should be noted that the establishment and correction of the above-mentioned lower limb model can be carried out by using point cloud data and point cloud block methods. For example, the point cloud data of the patient's lower limb is acquired through the lower limb shape information and / or posture information, and after the point cloud is divided into multiple blocks according to geometric parameters such as distance, the point cloud blocks that meet the length, width and curve of the patient's lower limb are selected, and the HOD features are extracted to obtain the lower limb model. Similarly, the point cloud data of the patient's lower limbs can be obtained through the position information and motion information of the patient's knee. After the point cloud is divided into multiple blocks according to geometric parameters such as distance, the previous point cloud blocks of the patient are corrected to obtain a corrected lower limb model.

[0035] After obtaining the corresponding patient lower limb image and / or lower limb model through the above method, the patient's lower limb can be monitored in real time, thereby adjusting the braking parameters of the braking unit 200, solving the problem of difficult lateral and vertical adjustment of the braking unit 200. This solution can adapt to patients of different body types, ensure that the relevant information obtained is highly accurate, and the information is obtained both horizontally and vertically, further improving the accuracy of the control of the braking unit 200, and solving the dual problems of slow real-time action of infrared acquisition and slow contour judgment of image acquisition.

[0036] According to a preferred embodiment, the host 300 adjusts the braking parameters of the braking part 200 based on the lower limb shape and posture information obtained by the monitoring module. The host 300 processes the obtained lower limb shape information and / or posture information into a lower limb image and / or a lower limb model, and corrects the lower limb image and / or the lower limb model based on the position information and motion information of the patient's knee. Preferably, in this embodiment, for the braking of the patient's lower limbs, especially for the braking of the lower limbs of patients with different signs, it is very important to select the position of the lower limb braking point and the braking parameters. Therefore, the following steps are given: when the patient's lower limb image and / or lower limb model changes, the braking point position of the patient's lower limb is determined; according to the determined braking point position of the patient's lower limb, the first braking component 211 and / or the second braking component 212 are controlled to move and contact in a manner close to the braking point position, and the first braking component 211 and / or the second braking component 212 are controlled to apply a target pressure to the braking point of the patient's lower limb in the braking part 200, so that the patient's lower limb remains straight.

[0037] According to a preferred embodiment, when the monitoring module obtains various parameters of the patient's lower limbs, the monitoring object of the monitoring module is configured as at least one change position and / or at least one state parameter of the change position corresponding to the patient's lower limbs, so as to select at least one braking point position based on the traversed change position state parameters, so that the brake assembly 210 and / or the pressing assembly 220 can actually act on the patient's lower limbs based on the selected braking point position. The state parameter of the above-mentioned change position can be selected as, for example, the physiological characteristics of the patient's lower limbs. In one embodiment, the physiological characteristics can include the softness of the change position of the patient's lower limbs. In the above case, it is preferred to change the position of the harder part of the patient to form an effective brake. For example, when the patient's calf part moves, the host 300 can select the brake assembly 210 at the knee part and / or the ankle part to effectively limit the displacement of the patient's lower limbs. In another embodiment, the physiological characteristic can be the patient's postoperative trauma position, that is, the part, wound and pain part of the patient before or after the operation, etc. When selecting the braking point position, the above-mentioned postoperative trauma position is preferentially excluded.

[0038] In the prior art, the braking of the patient's lower limbs is often performed by a fixed and completely prohibited movement restriction structure to force the patient's lower limbs not to move, which fixes the patient's lower limbs and restricts any movement of the patient's lower limbs that deviates from the limited posture, so that it returns to its original position. However, the braking of the lower limbs of patients, especially patients of different body types, cannot be so simple in most cases. How to avoid the patient's discomfort and the resulting pressure sores while ensuring that the patient's lower limbs do not move over a large range and braking the lower limbs is a problem that the prior art urgently needs to solve. The present invention, through the setting of the braking component 210 and the pressing component 220, and the acquisition of the patient's lower limb image and / or lower limb model through the monitoring module, accurately regulates the braking distance and pressing force of the braking component 210 and the pressing component 220 to avoid the patient from developing pressure sores. In addition, the lower limbs also have different softness parts, including harder knee parts, ankle parts, bones and softer muscles. If the braking component does not distinguish and applies the same pressing force to different parts, first of all, its limiting effect cannot achieve proportional feedback, and the softer parts are difficult to achieve a better limiting effect, and it is also easy to cause pressure sores. Secondly, due to the depression of the softer part, the expected posture of the patient's lower limbs is offset, resulting in inaccurate braking and discomfort to the patient. The present invention selects the braking point position to limit the movement of the patient's lower limbs, avoids accidental hematoma caused by lower limb displacement or bending, adjusts different braking pressures according to the braking point position, and is suitable for patients of different body types, reducing the possibility of pressure sores on the skin surface and avoiding local blood pressure stagnation.

[0039] Based on the above, this embodiment provides a preferred embodiment, in which the host 300 controls at least one brake component 210 to move toward the patient to contact the patient in accordance with different brake points of the patient's lower limbs based on the deviation of the acquired patient's lower limb image and / or lower limb model from the preset posture in the first time sequence; in the second time sequence, based on the degree of conformity of the patient's lower limb image and / or lower limb model with the preset posture, the brake component 210 with a conformity lower than the threshold is retracted; in the third time sequence, the remaining brake components 210 that still restrict the patient's lower limbs are controlled to restore the patient's lower limb posture to the initial posture. The above-mentioned first time sequence, second time sequence and third time sequence can be time axis sequences with a sequential order. The present invention realizes the first execution restriction of the patient through the planning of the time sequence, and then improves the monitoring and regulates the brake component according to the monitoring results, so as to quickly respond to the changes in the patient's lower limbs, and can brake the brake component that may contact the patient's lower limbs at the first time to prevent the lower limbs from continuing to move. The selection of targeted restriction schemes for several brake points of the patient's lower limbs can reduce the difficulty of data processing of the host 300 and the discomfort of the patient.

[0040] According to a preferred embodiment, when the host 300 monitors changes in the patient's lower limb image and / or lower limb model, the host 300 controls the first brake assembly 211 and / or the second brake assembly 212 to apply target pressure to the braking point of the patient's lower limb based on the braking point position. Preferably, the host 300 controls the first brake assembly 211 and / or the second brake assembly 212 to apply target pressure at different braking points based on the required braking point being located at different positions of the patient's lower limb image and / or lower limb model. Specifically, for the patient's lower limb image and / or lower limb model monitored by the host 300, when the patient's lower limb is slightly moved, the selection of the braking point is very important. Preferably, the monitoring module obtains at least one change position and / or the state parameter of at least one change position corresponding to the change of the patient's lower limb image and / or lower limb model, thereby selecting at least one braking point position based on the traversed change position state parameters, so that the first brake assembly 211 and / or the second brake assembly 212 can act on the patient's lower limb separately or independently based on the selected braking point position. The reason for the above scheme is that when the position of the soft part of the patient needs to be adjusted, it is not simply to use the brake component 21O closer to the part to adjust the target pressure, but to use the brake component 21O of the part adjacent to it or associated with the physiological structure to adjust it in a coordinated manner. The above physiological structure association refers to various parts that belong to the same force conduction area in the physiological structure. For example, various parts on the same bone, etc. The reason for this setting is that there are difficulties and deviations in adjusting the soft parts of the patient's lower limbs. After adjustment, it is also easy to cause force conduction to the rest of the patient's lower limbs and increase the risk of pressure sores. Therefore, this kind of associated micro-motion method is used to adjust multiple brake components 210 to achieve the adjustment of detailed parts. For another example, part of the patient's lower limb is a postoperative trauma site. When the brake component 210 applies the target pressure to it, it is easy to cause secondary injury to the patient. Therefore, by coordinating the adjustment of the brake components 210 of the parts associated with the physiological structure, it is possible to avoid applying pressure to the trauma site. This embodiment adaptively selects the first brake component 211 and / or the second brake component 212 to select the brake component 210 suitable for adjustment to apply the corresponding pressure, rather than adjusting the movement site alone, thereby reducing the risk of pressure sores and avoiding the patient's traumatic site to reduce the patient's pain.

[0041] Throughout the text, the features referred to as “preferably” are merely optional and should not be understood as having to be set. Therefore, the applicant reserves the right to abandon or delete the relevant preferred features at any time.

[0042] It should be noted that the above-mentioned specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosure of the present invention, and these solutions also belong to the disclosure scope of the present invention and fall within the protection scope of the present invention. Those skilled in the art should understand that the present invention specification and its drawings are illustrative and do not constitute a limitation on the claims. The scope of protection of the present invention is defined by the claims and their equivalents. The present invention specification contains multiple inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", all of which indicate that the corresponding paragraph discloses an independent concept, and the applicant reserves the right to file a divisional application based on each inventive concept.

Claims

1. A postoperative lower limb rehabilitation system, at least include: The bearing portion (100) is used to bear the lower limbs of a patient; A brake part (200) is used to limit the lateral and vertical movement of the patient's lower limbs; The host (300) is used for controlling the braking unit (200); and is characterized in that: The bearing portion (100) comprises at least a monitoring module arranged in the bearing portion (100), wherein the monitoring module is capable of obtaining at least shape information and posture information of a limb, and the monitoring module comprises at least a first monitoring module (111) arranged at the bottom of the bearing portion (100), The host (300) establishes and corrects a lower limb image and / or a lower limb model based on the shape information and posture information of the limb acquired by the monitoring module, so as to adjust the braking parameters of the braking part (200) in a manner that limits the movement trend of the lower limb. The monitoring module further comprises a second monitoring module (112) arranged on the side of the bearing portion (100), the second monitoring module (112) at least monitoring the position information and movement information of the knee of patients with different body mass indexes, wherein: The host (300) adjusts the position of a pressing component (220) of the braking part (200) for adjusting a vertical limit range based on the position information of the knee part.

2. The postoperative lower limb rehabilitation system according to claim 1, It is characterized in that The monitoring module obtains at least one change position and at least one state parameter of the change position corresponding to the change of the patient's lower limb image and / or lower limb model, thereby selecting at least one braking point position based on the traversed change position state parameters, so that the braking part (200) can act on the patient's lower limb based on the selected braking point position.

3. The postoperative lower limb rehabilitation system according to claim 2, It is characterized in that The first monitoring module (111) at least monitors the lower limb widths at a plurality of braking points of the lower limbs of patients with different body mass indexes; The host (300) adjusts the lateral limit range of the braking point based on the lower limb width of the braking point, and the host (300) controls the braking assembly (210) of the braking part (200) to move until the distance between the paired braking assemblies (210) is equal to the lower limb width of the braking point.

4. The postoperative lower limb rehabilitation system according to claim 3, It is characterized in that The first monitoring module (111) is provided with at least two infrared probes for performing thermal radiation monitoring on the lower limbs of patients with different body mass indexes in a multi-angle manner to obtain the shape information and / or posture information of the lower limbs of the patients; The host (300) establishes a lower limb image and / or a lower limb model based on the acquired lower limb shape information and / or posture information.

5. The postoperative lower limb rehabilitation system according to claim 4, It is characterized in that The second monitoring module (112) acquires position information and movement information of the patient's knee under different body mass indexes in an image acquisition manner; The host (300) corrects the lower limb image and / or the lower limb model based on the acquired position information of the knee part, so that the host (300) adjusts the position of the pressing component (220) of the vertical limit range and the braking parameters of the braking component (210) of the lateral limit range based on the lower limb image and / or the lower limb model.

6. The postoperative lower limb rehabilitation system according to claim 5, It is characterized in that The brake assembly (210) of the brake part (200) is divided into at least a first brake assembly (211) and a second brake assembly (212).

7. The postoperative lower limb rehabilitation system according to claim 6, It is characterized in that When changes are detected in the lower limb image and / or the lower limb model, the host (300) is configured to: Determine the location of the braking point of the lower limb; According to the determined braking point position of the lower limb, the first braking component (211) and / or the second braking component (212) are controlled to move and contact the end of the lower limb in a manner close to the braking point position, and the first braking component (211) and / or the second braking component (212) are controlled to apply a target pressure to the braking point of the lower limb in the braking part (200) so that the lower limb remains straight.

8. The postoperative lower limb rehabilitation system according to claim 7, It is characterized in that The host (300) controls at least one of the braking components (210) to move toward the patient to contact the patient in a first time sequence corresponding to different braking points of the lower limbs based on the acquired lower limb image and / or the deviation of the lower limb model from a preset posture; In a second time sequence, based on the degree of conformity between the lower limb image and / or the lower limb model and a preset posture, retracting a number of the brake components whose conformity is lower than a threshold value (210); In the third time sequence, the plurality of brake components (210) that restrict the lower limbs are controlled to restore the posture of the lower limbs to the initial posture.

9. The postoperative lower limb rehabilitation system according to claim 1, It is characterized in that At least one pressure-sensitive sensor for detecting pressure changes of the pressing component (220) is provided in the pressing component (220), wherein: The host (300) adjusts the pressure of the pressing component (220) based on the movement information of the knee part and the pressure change of the pressing component (220), and increases the vertical pressing force of the pressing component (220) when the knee part has a tendency to move upward.

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