Complex rehabilitation system for motor / cognitive disorders

Abstract

The application discloses a compound rehabilitation system for movement / cognition disorder, which comprises a support, a rehabilitation training robot, a transparent display device and a control system. The rehabilitation training robot is arranged on the support and has an upper limb matching part. The transparent display device is arranged in parallel above the top of the rehabilitation training robot. The control system is arranged on the support and connected with the rehabilitation training robot and the transparent display device respectively. The control system establishes a common coordinate system for the rehabilitation training robot and the transparent display device. The control system can acquire the position coordinates of the upper limb matching part in the common coordinate system. The control system controls the transparent display device to display a rehabilitation training scene according to the common coordinate system. The transparent display device displays a specific rehabilitation scene, and the patient can see the scene displayed on the screen and see his / her own arm and the robot through the display screen. The patient realizes the interaction with the rehabilitation scene by moving the robot, thereby completing the rehabilitation training or evaluation task.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation training technology, and more specifically, to a combined rehabilitation system for motor / cognitive impairments. Background Technology

[0002] Stroke is a common disease with a large number of patients and a high mortality and disability rate. Stroke has a rapid onset and causes brain damage, with approximately 85% of stroke patients experiencing hemiplegia as a sequela. About 69% of stroke patients with hemiplegia will experience upper limb motor dysfunction, which is usually manifested as hypotonia, spasticity, and motor dysfunction, thus affecting patients' daily activities such as grasping and moving objects. In addition, stroke patients often have sensory deficits, including touch, temperature, pain, and proprioception, with an incidence rate of 11%-85% [7, 8].

[0003] The theoretical basis for stroke rehabilitation training is neuroplasticity, which plays a crucial role in the recovery of motor function in stroke patients. Specific rehabilitation training and exercises can achieve neural remodeling, thereby restoring the patient's motor function. The key to restoring the patient's motor function lies in repetitive, high-intensity, and personalized rehabilitation training. Rehabilitation robots can perform long-term, high-intensity, and precise rehabilitation training tasks, thus meeting the rehabilitation needs of patients.

[0004] Patients often require rehabilitation robots for rehabilitation training. Rehabilitation robots can be categorized into end-effector traction robots, exoskeleton robots, and hybrid rehabilitation robots. End-effector traction robots can be further divided into serial and parallel types, and can also be classified according to their workspace as planar motion and spatial motion types. Robot-assisted rehabilitation training comprises three basic components: first, a mechanical power unit that provides passive, active assisted, and active antagonistic movements; second, task-related visual feedback displayed on a screen; and third, a computer interactive program used to monitor the patient's motor performance and progressively increase training intensity to motivate the patient's rehabilitation.

[0005] Currently, the common approach to combining rehabilitation robots with display systems involves pairing the robot with a standard monitor. The monitor displays the robot's movement trajectory and intentions, and by establishing a mapping between the robot's physical space and the rehabilitation scene on the monitor, interaction between the robot and the rehabilitation scene can be achieved. However, because the coordinate system of the rehabilitation scene displayed on the monitor differs significantly from the coordinate system of the robot's physical space (the real world), the correlation between the patient's limb movements and the interactions within the rehabilitation scene during rehabilitation training is weak, lacks intuitiveness, and is not immersive enough. Consequently, the visual stimulation provided to the patient's cerebral cortex is relatively weak, and the correlation between visual and motor stimuli is not high enough, thus affecting the patient's neural remodeling and motor rehabilitation.

[0006] In view of this, the present invention is hereby proposed. Summary of the Invention

[0007] This invention provides a combined rehabilitation system for motor and cognitive impairments.

[0008] This application provides the following technical solution:

[0009] A combined rehabilitation system for motor / cognitive impairments, comprising:

[0010] support;

[0011] A rehabilitation training robot, wherein the rehabilitation training robot is mounted on the support frame, and the rehabilitation training robot has an upper limb coordination part;

[0012] A transparent display device is mounted on the support frame and is positioned parallel to the top of the rehabilitation training robot, with a space for movement between the transparent display device and the rehabilitation training robot.

[0013] A control system is installed on the support frame and is connected to the rehabilitation training robot and the transparent display device. The control system establishes a shared coordinate system between the rehabilitation training robot and the transparent display device. The control system can obtain the position coordinates of the upper limb coordination part in the shared coordinate system. The control system controls the transparent display device to display the rehabilitation training scene according to the shared coordinate system.

[0014] Optionally, the support includes an upper frame, a middle frame, and a lower frame;

[0015] The transparent display device is disposed on the upper frame;

[0016] The rehabilitation training robot is mounted on the middle frame;

[0017] The control system is located in the lower frame.

[0018] Optionally, the middle frame is provided with a mounting beam at the middle position along the first direction;

[0019] The rehabilitation training robot is mounted on the mounting beam;

[0020] Wherein, the first direction is the length or width direction of the middle frame.

[0021] Optionally, the rehabilitation training robot has a base and several movable arms;

[0022] The base and each of the movable arms are arranged in sequence, and adjacent arms are rotatably connected. The upper limb cooperation part is provided on the end movable arm.

[0023] The rotation axis of each of the movable arms is perpendicular to the transparent display device.

[0024] Optionally, a motor is provided between adjacent pairs of the base and each of the movable arms;

[0025] Of the two adjacent components of the base and each of the movable arms, one is fixedly connected to the motor housing, and the other is fixedly connected to the motor rotor.

[0026] Optionally, the motor is equipped with an encoder, which is used to obtain the rotation angle of the motor rotor;

[0027] The control system is connected to each of the motors respectively, and the control system calculates the coordinates of the upper limb coordination part based on the data detected by the encoder of each motor.

[0028] Optionally, a bearing is provided between adjacent pairs of the base and each of the movable arms;

[0029] The bearing has a hollow bore;

[0030] Of the base and each of the movable arms, one of the adjacent two is fixedly connected to the housing of the motor, and the rotor of the motor passes through the hollow hole of the corresponding bearing and is connected to the other of the adjacent two.

[0031] Optionally, one of the movable arms near the base has an inclined section that tilts toward the transparent display device.

[0032] Optionally, the end arm and the rotor of the corresponding motor are connected via a force sensor.

[0033] Optionally, the end arm includes a connecting plate and a connecting rod connecting the connecting plate;

[0034] The connecting plate is connected to the force sensor;

[0035] The upper limb fitting part includes a handle and an elbow support;

[0036] The handle is connected to the connecting plate, the handle is perpendicular to the transparent display device, and the elbow rest is connected to the end of the connecting rod opposite to the connecting plate.

[0037] By adopting the above technical solution, the present invention has the following beneficial effects:

[0038] The transparent display device of this application will display specific rehabilitation scenarios. Patients can see the scenarios displayed on the screen, and at the same time, they can see their own arms and the robot through the display screen. Patients can interact with the rehabilitation scenarios by moving the robot to complete rehabilitation training or assessment tasks.

[0039] The specific embodiments of the present invention will be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0040] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation of the invention. Obviously, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings:

[0041] Figure 1 This illustration shows a structural diagram of a composite rehabilitation system for motor / cognitive impairments provided in an embodiment of this application.

[0042] Figure 2 This illustration shows a structural diagram of a rehabilitation training robot for a combined rehabilitation system for motor / cognitive impairments provided in an embodiment of this application.

[0043] Figure 3 This diagram shows the structure of the rehabilitation training robot of the combined rehabilitation system for motor / cognitive impairment provided in this application embodiment after removing the outer shell components;

[0044] Figure 4 yes Figure 3 Exploded view.

[0045] In the diagram, 1. Support frame; 11. Upper frame; 12. Middle frame; 121. Mounting beam; 13. Lower frame; 2. Rehabilitation training robot; 21. Base; 22. Movable arm; 221. Connecting plate; 222. Linkage rod; 23. Upper limb connecting part; 231. Handle; 232. Elbow support; 24. Motor; 25. Bearing; 26. Force sensor; 3. Transparent display device.

[0046] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0048] In the description of this invention, it should be noted that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0049] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or a simple connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0050] See Figures 1 to 4 As shown, this application provides a composite rehabilitation system for motor / cognitive impairments, including: a support frame 1, a rehabilitation training robot 2, a transparent display device 3, and a control system (not shown). The rehabilitation training robot 2 is mounted on the support frame 1 and has an upper limb coordination part 23. The transparent display device 3 is mounted on the support frame 1, located on top of the rehabilitation training robot 2, and there is a space for movement between the transparent display device 3 and the rehabilitation training robot 2. The control system is mounted on the support frame 1 and connected to both the rehabilitation training robot 2 and the transparent display device 3. The control system establishes a common coordinate system, acquires the position coordinates of the upper limb coordination part 23 in the common coordinate system, and controls the transparent display device 3 to display the rehabilitation training scene according to the common coordinate system.

[0051] The transparent display device 3 includes a transparent display screen, which is horizontally positioned on top of the support 1. The transparent display screen is used to present rehabilitation scenarios and provide visual stimulation for stroke patients. The transparent display screen is placed parallel to the rehabilitation training robot 2, achieving a unification of the robot's real-space coordinate system and the display screen's coordinate system.

[0052] This application presents a combined rehabilitation system for motor and cognitive impairments, achieving integrated unification of the robotic and display systems. The transparent display device 3 allows patients to see the robot and limbs through the screen, providing multi-layered visual feedback. The transparent display and the rehabilitation training robot 2 are placed parallel to each other, unifying the robot's real-world coordinate system with the display screen's coordinate system. This establishes a direct mapping between the robot's physical space and the rehabilitation scene on the display, enhancing the correlation between the patient's limb movements and interactions within the rehabilitation scene, thus improving immersion. This combined rehabilitation system for motor and cognitive impairments provides stronger and more layered visual stimulation to the patient's cerebral cortex, improving the correlation and matching between visual and motor stimuli, thereby further aiding in neural remodeling and motor rehabilitation.

[0053] The transparent display device 3 consists of a 55-inch touch-sensitive transparent OLED screen and its casing, with an overall length of 1340mm, width of 900mm, and thickness of 37.5mm, forming a cuboid shape. The front of the transparent display device 3 is flat, while the back is recessed. The transparent display device 3 includes a switch, an AC socket, and terminal sockets for connecting to a power source and a computer.

[0054] The transparent display device 3 of this application will display specific rehabilitation scenarios. Patients can see the scenarios displayed on the screen, and at the same time, they can see their own arms and the robot through the display screen. Patients can interact with the rehabilitation scenarios by moving the robot to complete rehabilitation training or assessment tasks.

[0055] In one possible implementation, see Figure 1 As shown, the support frame 1 includes an upper frame 11, a middle frame 12, and a lower frame 13. The transparent display device 3 is disposed on the upper frame 11, the rehabilitation training robot 2 is disposed on the middle frame 12, and the control system is disposed on the lower frame 13. The middle frame 12 is height-adjustable to accommodate patients of different body sizes. The specific height-adjusting structure of the middle frame 12 is not limited in this application.

[0056] The composite rehabilitation system for motor / cognitive impairment disclosed in this application consists of a three-layer structure, which can be fixed in place using aluminum alloy profiles. The top layer is a visual feedback layer, mainly used to install transparent display devices 3 and protective covers, etc., to present rehabilitation scenarios and provide visual stimulation for stroke patients. The middle layer is a rehabilitation training layer, in which a rehabilitation training robot 2 is installed. The rehabilitation training robot 2 can be a three-degree-of-freedom end-effector robot used for upper limb motor rehabilitation of stroke patients. The bottom layer is an equipment layer, used to install the control system, which includes a computer, drivers, controllers, and other equipment.

[0057] In an optional implementation, a mounting beam 121 is provided at the middle position of the middle frame 12 along a first direction, and the rehabilitation training robot 2 is mounted on the mounting beam 121. The first direction is the length or width direction of the middle frame 12. By mounting the rehabilitation training robot 2 on the mounting beam 121 located in the middle, the upper limb coordination part 23 can remain within the coverage area of ​​the transparent display device 3 during the operation of the rehabilitation training robot 2.

[0058] In one possible implementation, see Figures 2 to 4 As shown, the rehabilitation training robot 2 has a base 21 and several movable arms 22. The base 21 and each of the movable arms 22 are arranged sequentially, and adjacent arms are rotatably connected. The upper limb cooperation part 23 is provided on the end of each movable arm 22. The rotation axis of each movable arm 22 is perpendicular to the transparent display device 3. The upper limb cooperation part 23 may include a handle 231 and an elbow support 232.

[0059] The upper limb coordination part 23 of the rehabilitation training robot 2 moves only in a plane to avoid interference with the transparent display device 3 on top. The following provides one application scenario for the composite rehabilitation system for motor / cognitive impairments based on this application:

[0060] The patient sits on a height-adjustable stool, and the height of the middle frame 12 can be adjusted according to the patient's height. The patient holds the robot's end handle 231 with either their left or right hand, resting their forearm on the elbow rest 232 connected to the handle 231. The patient can choose between passive and active control modes. In active control mode, the patient actively controls the movement of the upper limb coordination part 23. For example, a force sensor 26 can be installed on the rehabilitation training robot 2 to acquire force / torque data, thereby analyzing the patient's movement intentions, and the robot moves accordingly. In passive control mode, the rehabilitation training robot 2 moves the patient's hand according to a pre-set route and trajectory, without analyzing the patient's movement intentions. A transparent display screen shows the specific rehabilitation scene. The patient can see the scene displayed on the screen, and simultaneously see their own arm and the robot through the display. The patient interacts with the rehabilitation scene by moving the robot, completing rehabilitation training or assessment tasks.

[0061] In one possible implementation, see Figure 3 and Figure 4 As shown, a motor 24 is disposed between adjacent pairs of the base 21 and each of the movable arms 22. One of the adjacent pairs of the base 21 and each of the movable arms 22 is fixedly connected to the housing of the motor 24, and the other is fixedly connected to the rotor of the motor 24. In this embodiment, the motor 24 can drive relative movement between two adjacent structural components, thereby adjusting the position of the patient's hand.

[0062] An encoder is installed inside the motor to obtain the rotation angle of the motor rotor. The control system is connected to each of the motors 24. The control system calculates the coordinates of the upper limb coordination part 23 based on the data detected by the encoders of each motor, thereby controlling the robot to move the patient's upper limbs precisely. This enhances the correlation between the patient's limb movements and the interaction in the rehabilitation scene during rehabilitation training, improving the sense of immersion. It can provide stronger and more layered visual stimulation to the patient's cerebral cortex, improve the correlation and matching degree between visual and motor stimuli, and thus better facilitate the patient's neural remodeling and motor rehabilitation.

[0063] In this embodiment, the rehabilitation training robot 2 can be equipped with three movable arms 22, forming a planar three-degree-of-freedom end-effector traction robot system. The rehabilitation training robot 2 can be a three-degree-of-freedom serial structure, and the robot structure can be changed by changing the length of the movable arms 22 to achieve richer functions.

[0064] In one possible implementation, see Figure 3 and Figure 4 As shown, in the base 21 and each of the movable arms 22, a bearing 25 is provided between adjacent pairs. The bearing 25 has a hollow hole. One of the adjacent pairs of the base 21 and each of the movable arms 22 is fixedly connected to the housing of the motor 24. The rotor of the motor 24 passes through the hollow hole of the corresponding bearing 25 and is connected to the other of the adjacent pairs. The bearing 25 reduces the resistance to movement between two adjacent structures. Each movable arm 22 of the rehabilitation training robot 2 of this application is equipped with a bearing 25 for axial support, and the bearing 25 is confined between two structural members.

[0065] In one possible implementation, the movable arm 22 near the base 21 has an inclined section that tilts towards the transparent display device 3. The first movable arm 22 of the rehabilitation training robot 2 may have an inclined section at a 26° angle to the horizontal plane, while the other movable arms 22 may extend horizontally.

[0066] In one possible implementation, the end effector arm 22 and the rotor of the corresponding motor 24 are connected via a force sensor 26. The upper limb engagement part 23 of the rehabilitation training robot 2 requires patient gripping, and the force sensor 26 can be used to acquire the interaction force and torque between the patient and the end effector arm 22, thereby controlling the active movement of the rehabilitation training robot 2 based on the magnitude and direction of the force and torque.

[0067] In one possible implementation, the distal arm 22 includes a connecting plate 221 and a connecting rod 222 connecting the connecting plate 221. The connecting plate 221 is connected to the force sensor 26. The upper limb engagement part 23 includes a handle 231 and an elbow support 232. The handle 231 is connected to the connecting plate 221 and is perpendicular to the transparent display device 3. The elbow support 232 is connected to the end of the connecting rod 222 opposite to the connecting plate 221. The patient's palm can grasp the handle 231, and the patient's forearm elbow can be supported on the elbow support 232, thereby improving comfort.

[0068] It is important to note that the rehabilitation training robot 2 also includes a shell assembly, which covers each movable arm 22 and the motors. The shell assembly enhances the product's appearance and also provides protection. The various substructures of the shell assembly can belong to different outer structures of the movable arms 22. The internal structure of the movable arms 22 can be made of aluminum alloy, which has the advantages of high strength and low weight. The shell assembly can be manufactured from photosensitive resin using 3D printing.

[0069] The lower frame 13 is the equipment layer, which can be mounted on the profile using wooden boards. It is used to house the control system, which may include a computer host and a robot control system. The robot control system consists of a driver, controller, servo motor, I / O interface, force sensor 26, and encoder, all integrated and installed inside the chassis.

[0070] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A composite rehabilitation system for motor / cognitive impairments, characterized in that, include: The support frame includes an upper frame, a middle frame, and a lower frame, wherein the middle frame can be raised and lowered. A rehabilitation training robot is provided on the middle frame. The rehabilitation training robot has an upper limb coordination part, a base and several movable arms. The base and each of the movable arms are arranged in sequence and adjacent ones are rotatably connected. The upper limb coordination part is provided on the end movable arm. The rotation axis of each movable arm is perpendicular to the transparent display device. A transparent display device is disposed on the upper frame and is located parallel to the top of the rehabilitation training robot. There is an activity space between the transparent display device and the rehabilitation training robot. During the operation of the rehabilitation training robot, the upper limb coordination part remains within the coverage area of ​​the transparent display device. The movable arm near the base has an inclined section that tilts towards the transparent display device, while the other movable arms extend horizontally. A control system is installed on the lower frame and is connected to the rehabilitation training robot and the transparent display device. The control system establishes a shared coordinate system between the rehabilitation training robot and the transparent display device. The control system can obtain the position coordinates of the upper limb coordination part in the shared coordinate system. The control system controls the transparent display device to display the rehabilitation training scene according to the shared coordinate system.

2. The composite rehabilitation system for motor / cognitive impairment according to claim 1, characterized in that, The middle frame is provided with a mounting beam at the middle position along the first direction; The rehabilitation training robot is mounted on the mounting beam; Wherein, the first direction is the length or width direction of the middle frame.

3. The composite rehabilitation system for motor / cognitive impairment according to claim 1, characterized in that, A motor is provided between two adjacent pairs of the base and each of the movable arms; Of the two adjacent components of the base and each of the movable arms, one is fixedly connected to the motor housing, and the other is fixedly connected to the motor rotor.

4. The composite rehabilitation system for motor / cognitive impairment according to claim 3, characterized in that, The motor is equipped with an encoder, which is used to obtain the rotation angle of the motor rotor. The control system is connected to each of the motors respectively, and the control system calculates the coordinates of the upper limb coordination part based on the data detected by the encoder of each motor.

5. The composite rehabilitation system for motor / cognitive impairment according to claim 1, characterized in that, In the base and each of the movable arms, a bearing is provided between adjacent pairs; The bearing has a hollow bore; Of the base and each of the movable arms, one of the adjacent two is fixedly connected to the housing of the motor, and the rotor of the motor passes through the hollow hole of the corresponding bearing and is connected to the other of the adjacent two.

6. The composite rehabilitation system for motor / cognitive impairment according to claim 1, characterized in that, The end arm and the rotor of the corresponding motor are connected by a force sensor.

7. The composite rehabilitation system for motor / cognitive impairment according to claim 6, characterized in that, The end arm includes a connecting plate and a connecting rod connecting the connecting plate; The connecting plate is connected to the force sensor; The upper limb fitting part includes a handle and an elbow support; The handle is connected to the connecting plate, the handle is perpendicular to the transparent display device, and the elbow rest is connected to the end of the connecting rod opposite to the connecting plate.

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