A rehabilitation training device and system

Abstract

The application relates to a rehabilitation training device. The rehabilitation training device comprises a ball, a twisting member containing a counting component and a grip belt connected with the ball through the twisting member, wherein the ball surface is distributed with a pressure sensing component, so as to collect the posture of the patient's hand and the force applied by the patient's hand based on the pressure applied by the patient's hand to the ball when a fixed ring formed by the grip belt is sleeved on the patient's hand; the ball can be controlled by external force to rotate relative to the grip belt, so that the counting component arranged on the twisting member collects the rotation times of the controlled ball. Compared with the intelligent stroke rehabilitation equipment in the prior art, the device, i.e. the rehabilitation training device, can confirm the force exerted by each finger of the patient during the exercise by detecting the pressure change value generated by the patient squeezing the ball, so as to confirm whether the exercise of the patient is effective.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a rehabilitation training device and system. Background Technology

[0002] Rehabilitation exercises for stroke patients can be divided into passive exercises and active exercises. After practicing passive exercises and massage exercises, the patient's motor function has been initially restored, and then active exercises can be performed.

[0003] There are already many studies on upper limb rehabilitation interventions, including bioelectric stimulation, traditional Chinese medicine acupuncture, massage, air wave pressure therapy, and electronic robots. However, these interventions are highly specialized, relatively complex to operate, and limited by venue and time. Clinically, there is an urgent need for an upper limb rehabilitation training device that is easy to operate, economical, and suitable for home exercise.

[0004] Chinese patent publication number CN111330224A discloses a stroke rehabilitation exercise device. The device includes a support frame, on which a seat, a rear cylinder, and a front cylinder are mounted. A connecting shaft is mounted on the seat frame, and a back plate and a base plate are mounted on the connecting shaft. A rear sliding plate is mounted on the back plate, and a front sliding plate and a support rod are mounted on the base plate. Cranks, rocker arms, and L-shaped rods are mounted on both sides of the support rod. A pedal and a connecting rod are mounted on the cranks, and a connecting rod and a handle are mounted on the L-shaped rods. A cotter pin is mounted on the connecting rod.

[0005] For example, Chinese Patent Publication No. CN111228084A relates to an upper limb rehabilitation training device, including a storage unit and a control unit. The storage unit stores pre-training data, which is relevant data on the movement of a normal upper limb in its natural state. The control unit uses the pre-training data as training parameters to control the upper limb rehabilitation training device to selectively perform finger rehabilitation training and / or upper arm rehabilitation training. The finger rehabilitation training includes rehabilitation training of the finger joints, and the upper arm rehabilitation training includes rehabilitation training of at least one of the shoulder, elbow, and wrist joints. In the prior art, automated devices that adjust the patient's rehabilitation training method based on the patient's hand and elbow movement detection results are widely used, but most are used to detect the patient's training posture.

[0006] As research into stroke rehabilitation deepens, it has been discovered that, even without visibly active limb movement, repeated mental simulations and rehearsals of motor activities can activate specific brain regions based on motor memory, thereby improving motor function. This finding is defined as motor imagery. Studies have found that motor imagery and upper limb muscle training can complement and promote each other in upper limb rehabilitation for stroke patients.

[0007] Related research results indicate that upper limb muscle training enables excited neuromuscular systems to undergo specific and effective movements, compensating for the shortcomings of single motor imagery. Motor imagery activates specific cortical areas of the brain responsible for motor behaviors, making patients' movements smoother and more complete when using upper limb training devices for functional exercises, thus achieving better training results.

[0008] Therefore, compared with the various devices for exercising patients' upper limbs provided in the prior art, this application aims to propose an automated device that adjusts the training process based on the patient's muscle state. This device can insert the motor imagery stage into the patient's upper limb exercise process, which can improve the efficiency of the patient's upper limb exercise on the one hand, and on the other hand, can also restore the patient's muscles in a fatigued state to an excited but not fatigued state during the motor imagery stage, thereby increasing the patient's training comfort.

[0009] Furthermore, 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 this invention, but due to space limitations, not all details and contents were listed in detail. However, this does not mean that the present invention does not possess the features of these prior art. On the contrary, the present invention already possesses all the features of the prior art, and the applicant reserves the right to add relevant prior art to the background art. Summary of the Invention

[0010] To provide patients with effective upper limb rehabilitation training, existing technologies have developed grip strength ball devices for auxiliary training. For example, patent document CN116059598A discloses a grip strength training auxiliary device, including a grip strength ball, retractable finger sleeves, a repetition display component, a finger press, arm sleeves, an adjustment strap, and a detection component. The retractable finger sleeves are fixed to the grip strength ball, the repetition display component is located inside the grip strength ball, the finger press is slidably connected to the upper end of the grip strength ball, and two arm sleeves of different sizes are provided. The smaller arm sleeve is fixed to the grip strength ball, and the two arm sleeves are connected by the adjustment strap. Grip strength is transmitted through the retractable finger sleeves and the finger press, detected by the detection component, and converted and transmitted by a signal generator. An external receiver is provided, which receives the signal from the signal generator to display the grip strength and the number of times the standard grip strength is achieved. This technical solution can simultaneously perform grip strength training and assist patients in arm extension training, and can record the number of training repetitions. However, the detection component in this technical solution is located inside the grip ball. This component detects the force applied to the retractable finger sleeve and the finger pressure points. In this case, the grip device cannot acquire pressure changes at various points on the ball's surface to generate a hand grip posture, and therefore cannot reflect the patient's specific hand posture and the applied force. Furthermore, this technical solution only uses an L-shaped controller inside the grip ball to generate signals and record the number of wrist rotations to assist in wrist rotation detection. However, this wrist rotation only involves wrist turning movements and cannot exercise the radial and ulnar tunnels of the wrist by rotating the ball, nor can it improve wrist joint stability through ball-rotation training. The specific training methods and objectives of these two approaches are significantly different. To address the above technical problems, this application relates to a rehabilitation training device. The rehabilitation training device includes a sphere, a torsion member containing a counting component, and a grip band connected to the sphere via the torsion member. Pressure sensing components are distributed on the surface of the sphere to collect the patient's hand posture and the force applied by the hand based on the pressure exerted by the patient's hand on the sphere when the fixed loop formed by the grip band is fitted onto the patient's hand. Under external force control, the sphere can rotate relative to the grip band based on the torsion member, so that the counting component set on the torsion member collects the number of rotations of the controlled sphere.

[0011] Compared with the prior art, the rehabilitation training device of the present invention can collect information on the posture and applied force of the patient's hand by wearing it on the patient's hand. Based on the above-mentioned distinguishing technical features, the problem to be solved by the present invention can include: how to improve the accuracy of patient hand training. Specifically, the present invention can accurately collect the grip posture of different parts of the patient's hand based on the pressure sensing components distributed on the surface of the ball, and can also analyze the applied force of different parts based on the specific detection data to construct the specific grip posture of the hand. Thus, it can further detect whether the patient's grip posture of the ball meets the requirements based on the pressure change value of the ball. On the other hand, the rehabilitation training device of the present invention can detect the pressure value under multiple grip force states when the patient applies pressure to the ball, and judge whether the patient's training process is effective by the pressure change value of a defined area, thereby improving the efficiency of patient hand rehabilitation training.

[0012] Furthermore, the beneficial effects of this technical solution are as follows:

[0013] After a stroke, the motor or sensory pathways of patients are impaired, leading to abnormal muscle tone and strength, as well as motor control disorders, and ultimately balance dysfunction. Meanwhile, hemiplegia after a stroke is a clinical manifestation of loss of motor function in one side of the body, accompanied by loss of function in the core muscles of the trunk.

[0014] During the prognosis or rehabilitation process, since one type of exercise posture can only exercise some muscle groups of the patient, clinicians will recommend that patients exercise their upper or lower limbs in a variety of postures.

[0015] Generally, patients need to use equipment to perform self-exercises. Existing technologies for stroke rehabilitation have limited application scenarios and usage methods. For example, Chinese patent CN209378373U discloses a pressure ball for preventing finger joint contractures after stroke; or devices that are bulky, structurally complex, and difficult to operate, such as the medical device for preventing stroke recurrence disclosed in Chinese patent CN213031199U. This makes current equipment challenging for stroke patients who need rehabilitation while recuperating at home alone.

[0016] This application provides a simple rehabilitation training device that can be configured with multiple modes based on different application scenarios. Compared with the prior art, this invention can adjust the corresponding rehabilitation training mode according to the different rehabilitation training needs of patients. Based on the above-mentioned distinguishing technical features, the problem to be solved by this invention may include: how to meet the different training needs of different patients' hands. Specifically, for example, when the patient's hand is in the first posture and needs to exercise the superficial and deep flexor digitorum muscles, the patient can achieve the purpose of exercising the muscle tone and strength of the superficial and deep flexor digitorum muscles by grasping and squeezing the ball.

[0017] At this point, the two ends of the grip band are connected to form a fixed loop that fits around the patient's hand. For stroke patients, due to decreased muscle strength, gripping or applying pressure to the ball can cause hand tremors or increase the frequency of tremors in patients with corresponding central nervous system damage. During this process, the ball is very likely to slip off the patient's hand. The grip band of this application can fit around the patient's hand when the patient is in the first position to prevent the ball connected to the grip band from slipping off the patient's hand.

[0018] At the same time, when the patient puts their hand in a second position to exercise the lumbrical and flexor muscle groups of the fingers, the patient can pinch and pick up the grip band with their fingers to exercise the muscle tone and strength of the lumbrical and flexor muscle groups of the fingers.

[0019] At this point, the grip bands of the device unfold, and the device is placed on a flat surface and remains stationary. The patient pinches the grip bands together, choosing different widths based on their own ability, and pulls the ball through the grip bands until it separates from the surface where the device is placed.

[0020] Preferably, the grip band has at least two areas of different widths, allowing the patient to select different areas to lift the device based on the recovery of the strength of the finger muscles.

[0021] Different widths of grip bands place different demands on the patient's fingers when lifting. The narrower the grip band, the more difficult it is to lift the grip band and pull the ball to separate from the plane of the placement device, but at the same time, the better the exercise effect on the finger muscles.

[0022] The rehabilitation training device involved in this application can also be used to exercise the wrists of stroke patients. Preferably, the device is further provided with a fixing strap. One end of the fixing strap can be connected to a fixing surface, and the other end is connected to a grip strap. Two grip straps arranged opposite to the ball are respectively connected to two fixing straps, so that the ball is suspended in the air. The patient holds the ball and rotates the ball, causing the ball to rotate relative to the grip straps.

[0023] By rotating the ball, the radial and ulnar tunnels of the wrist are exercised, increasing the stability of the wrist joint.

[0024] Based on the device's adaptability to different application scenarios, patients can use the device to complete rehabilitation training with different hand postures.

[0025] Compared to the complex structural designs or single application scenarios in existing technologies, the device involved in this application can meet the prognostic needs of stroke patients living alone.

[0026] According to a preferred embodiment, at least one grip band is provided with a wide band that is connected to each other to constrain the ball when the patient is in a first spherical grasping posture and a narrow band that provides an operating area for the patient when the patient is in a second pinching posture.

[0027] The beneficial effects of this technical solution are:

[0028] Different widths of grip bands place different demands on the patient's fingers when lifting. The grip band structure involved in this application ensures that it has a pressure-buffering area (wide band) when the device is fitted onto the patient's hand, and also has an area (narrow band) that allows the patient to exercise their finger muscle groups when they need to perform the exercise in a second posture.

[0029] According to a preferred embodiment, a plurality of pressure sensing components are arranged in a dot matrix on the surface of a sphere to generate a hand grip posture when pressure changes are acquired at various locations on the surface of the sphere.

[0030] The beneficial effects of this technical solution are:

[0031] Based on this setup method, the device can achieve high-precision hand gripping posture generation without being limited by hand posture.

[0032] Specifically, based on the pressure sensing components installed on the sphere, when the patient grips the sphere and applies pressure, the sphere can simulate the patient's hand posture based on the pressure change values ​​in different areas. On the one hand, the pressure change values ​​of the sphere can detect whether the patient's grip posture is correct; on the other hand, when the patient applies pressure to the sphere, the processor can determine whether the patient's exercise process is effective based on the pressure change values ​​in a specific area.

[0033] According to a preferred embodiment, the broadband is configured as a flexible strip.

[0034] This application relates to a rehabilitation training system. The rehabilitation training system includes a rehabilitation training device for providing upper limb exercises to a patient, a processor, and a detection module for providing guided motor imagery for the patient. During the interval between a first training mode of squeezing the ball of the device for hand exercises and a third training mode of twisting the ball of the device for wrist exercises, the processor triggers the detection module to collect electromyographic (EMG) signals from the patient's hand during the second training mode, which involves motor imagery, to confirm the state of the patient's hand muscles. An EMG signal detection component is also included to enable a torsion sensing component located on a torsion member between the grip band and the ball of the device to transmit the recorded number of times the patient twisted the ball at an angle greater than a preset threshold during wrist exercises to the processor when the EMG signals of the patient's hand muscles enter a first range representing a return to normal hand muscle condition.

[0035] To address the challenge of limited voluntary movement in early-stage hemiplegic patients, existing technologies have developed solutions that combine motor imagery with surface electromyography (sEMG) signals to assist patients in actively engaging in rehabilitation training. For example, patent document CN116312947A discloses an immersive ankle-foot rehabilitation training method and electronic device based on upper limb motor signals. First, a wearable electromyography sensor predicts the changing angle of the user's wrist joint. Second, two different virtual reality training scenarios are designed and developed for users with dorsiflexion and plantarflexion of the foot. During training, the user wears a virtual reality headset and an electromyography monitoring device, continuously performing wrist dorsiflexion or palmar flexion movements. The changing angle of the wrist joint is predicted in real time using sEMG signals from the forearm skin, and then mapped onto the opposite ankle of the character in the virtual scene for rotation. This technical solution enhances the vividness of the user's motor imagery, kinesthetic illusion, and sense of limb belonging through a virtual-real fusion mode where the contralateral hand electromyography controls virtual leg movements, thereby promoting rehabilitation treatment. However, this technical solution acquires electromyographic (EMG) signals from the skin surface of the forearm to predict the changing angle of the wrist joint in real time. The primary purpose of these EMG signals is to map them onto a virtual scene, causing the corresponding arm in the virtual scene to rotate, thus achieving synergistic stimulation of the virtual and real limbs. In contrast, the EMG signals of this invention can serve as start / stop control elements for different training modes, thus interspersing the motor imagery phase within the actual rehabilitation training process of the patient's upper limb exercises. This improves the efficiency of the patient's upper limb exercises and allows the muscles of a fatigued patient to recover to an excited but not fatigued state during the motor imagery phase, increasing the patient's training comfort. Compared to the prior art, the processor of this invention can enter different training modes based on the different ranges of the acquired EMG signals used to confirm the state of the patient's hand muscles. Based on these distinguishing technical features, the problem this invention aims to solve can include: how to adaptively adjust the training mode according to the actual state of the patient's hand to improve the effectiveness of the patient's hand rehabilitation training.

[0036] Furthermore, the beneficial effects of this technical solution are as follows:

[0037] Compared to existing intelligent stroke rehabilitation devices, the device involved in this application determines the effectiveness of the patient's exercise by detecting the pressure changes generated when the patient squeezes the ball, thus confirming the degree of force exerted by each finger during the exercise. Chinese Patent Publication No. CN114870325A discloses an intelligent upper limb rehabilitation training device. The device includes a grip ball, a pressure sensor, a processing unit, and a display screen. The pressure sensor is located on the grip ball to detect the pressure signal from the user's grip. The processing unit is located inside the grip ball and electrically connected to the pressure sensor, converting the pressure signal to obtain the number of grips, the single pressure value, and the average pressure value. The display screen is located on the grip ball and connected to the processing unit, displaying the number of grips, the single pressure value, and the average pressure value.

[0038] Compared to the grip ball disclosed in the prior art, on the one hand, the rehabilitation system of this application can increase the types of muscle groups that can be exercised by increasing the patient's exercise posture; on the other hand, the rehabilitation system of this application can also switch the patient's exercise mode in real time based on the patient's muscle state to avoid muscle damage.

[0039] According to a preferred embodiment, a first training mode for squeezing the ball of the device to exercise the hand includes: when the patient holds the ball of the device in a first posture of spherical grasping, the processor generates a hand posture for comparison with a standard first posture based on the position information of the pressure sensing component generated by the hand squeezing the ball of the device, and collects pressure changes with the currently recorded position information.

[0040] According to a preferred embodiment, the third training mode of the ball of the wrist-twisting device includes: in the third training mode, when the angle of rotation of the ball relative to the grip band connected to it exceeds a preset threshold, rotating the ball so that the number of rotations of the ball recorded by the processor is not less than a preset number of rotations.

[0041] According to a preferred embodiment, when the processor triggers the detection module to collect electromyographic (EMG) signals from the patient's hand during the second training mode using motor imagery, and the EMG signal detection component confirms that the patient's hand muscles are in a fatigued state (a second range), the processor controls the detection module to provide the patient with repeated active muscle relaxation motor imagery guidance. Compared to the prior art, the processor of this invention can adjust to the motor imagery training mode based on the collected EMG signals indicating fatigue in the patient's hand muscles. Based on the above-mentioned distinguishing technical features, the problem to be solved by this invention can include: how to insert the motor imagery training process according to the actual training state of the patient's hand to prevent muscle damage caused by excessive muscle training. Specifically, motor imagery and upper limb muscle training can complement each other and promote each other in the upper limb rehabilitation training of stroke patients. The motor imagery process can make the patient's movements smoother and more complete when using the upper limb trainer for functional exercises, resulting in better training effects.

[0042] According to a preferred embodiment, motor imagery includes: audio provided by a detection module for guiding the patient to imagine raising the upper limb, adjusting the hand to a first posture and / or a second posture, and circumferentially rotating the wrist.

[0043] According to a preferred embodiment, in the third training mode, when the angle of the rotating sphere is less than a preset threshold, the processor counts based on the number of rotations recorded previously.

[0044] According to a preferred embodiment, when the number of times the patient squeezes the ball, as recorded by the processor, is less than a preset threshold, and when the pressure change value of the patient squeezing the ball is less than a preset threshold, the processor generates the patient's current hand posture holding the ball based on the position information of the pressure sensing component where the pressure change occurred. Specifically, in the above case, the processor does not include the current number of pressure changes in the total count in the first training mode.

[0045] According to a preferred embodiment, when the number of times the patient twists the ball recorded by the processor is less than a preset threshold, and when the rotation angle of the ball twisted by the patient is less than a preset threshold, the processor generates the patient's current hand posture holding the ball based on the position information of the pressure sensing component where the pressure change has occurred. Specifically, in the above case, the processor does not include the current number of ball rotations in the total count of the third training mode.

[0046] During muscle rehabilitation training, stroke patients may experience intermittent tremors and / or weakness when their muscles are under prolonged tension due to the influence of the central nervous system. In particular, intermittent muscle weakness and tremors during upper limb exercises can disrupt the continuity of training.

[0047] When the patient is in the first training mode and the third training mode, the device provided in this application can exclude the operation from the total count if the patient is affected and the operation standard is lower than the set threshold during the training process (the counting method in the same training mode is non-continuous).

[0048] Simultaneously, when a patient experiences muscle weakness or tremors, their hand posture while holding the ball may change. Based on the location of the pressure sensing component corresponding to the pressure change value below a preset threshold, the processor again detects the hand posture signal generated by the patient's operation of the ball. When the patient adjusts their hand posture while holding the ball due to hand tremors or weakness, the processor can readjust based on the standard grip posture and select the pressure sensing component corresponding to the area that transmits pressure change values ​​that can be used for data analysis.

[0049] The beneficial effects of this technical solution are:

[0050] Based on the above settings, when a patient experiences muscle weakness or tremors, the posture of the patient holding the ball can be repositioned or corrected, thereby reducing the error in data collection caused by the patient's improper movements when holding the ball, and thus improving the effectiveness of the patient's ball-holding training.

[0051] On the one hand, when a patient experiences muscle weakness or tremors, the unmet training movements are not included in the total count, ensuring the effectiveness of the training. On the other hand, the position of the hand holding the ball may change after shaking or slipping, causing a sampling error between the pressure change value collected by the pressure sensing component and the actual pressure change value experienced by the ball. For example, based on the initially confirmed position of the pressure sensing component corresponding to the acceptable pressure change value, the processor receives a pressure change value greater than a preset threshold transmitted from that position. When the processor receives a pressure change value less than the preset threshold, it indicates that the patient is experiencing muscle weakness and / or tremors during exercise due to limitations in muscles and / or the central nervous system. Based on the possible changes in the patient's hand position and posture while holding the ball in this state, the processor re-confirms the pressure sensing component transmitting pressure change values ​​that can be analyzed.

[0052] It should be noted that the system involved in this application is also applicable to patients with hemiplegia caused by central nervous system lymphoma. Central nervous system lymphoma is caused by primary central or systemic lymphoma invading the central nervous system. Lymphoma can cause functional impairment at the lesion site. Even after radiotherapy and chemotherapy, when the lymphoma lesions disappear, some patients still have a certain degree of irreversible damage to their central nervous system function, leaving muscle control disorders. For these patients, after receiving radiotherapy and chemotherapy, due to the irreversible damage to the lesion site, they will experience muscle control disorders. The rehabilitation training equipment provided in this application is suitable for patients undergoing rehabilitation in this prognosis. Patients can effectively improve their rehabilitation outcomes by using the rehabilitation system involved in this application. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the structure of the rehabilitation training device provided by the present invention;

[0054] Figure 2 This is a schematic diagram of the use of the rehabilitation training device provided by the present invention, in which the patient's hand is in a first posture;

[0055] Figure 3 This is a schematic diagram of the use of the rehabilitation training device provided by the present invention, in which the patient's hand is in a second posture;

[0056] Figure 4 This is a schematic diagram illustrating the use of the patient stretching rehabilitation training device provided by the present invention;

[0057] Figure 5 This is a schematic diagram illustrating the use of the rehabilitation training device provided by the present invention when the patient is in the third training mode;

[0058] Figure 6 This is an application scenario diagram of the first training mode provided by the present invention;

[0059] Figure 7 This is an application scenario diagram of the second training mode provided by the present invention;

[0060] Figure 8 This is an application scenario diagram of the third training mode provided by the present invention;

[0061] Figure 9 This is a structural diagram of the counting component provided by the present invention;

[0062] Figure 10 This is a structural diagram of the pressure sensing component provided by the present invention.

[0063] List of reference numerals

[0064] 100: Sphere; 110: Pressure sensing component; 200: Grip band; 210: Narrow band; 220: Wide band; 230: Connector; 300: Torsion component; 310: Receiving cavity; 320: Angle sensor; 330: Power source; 340: Spindle; 400: First direction; 500: Fixing band; 600: Processor; 700: Detection module. Detailed Implementation

[0065] The following is a detailed explanation with reference to the accompanying drawings.

[0066] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. It should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. "Several" means two or more, unless otherwise explicitly and specifically defined. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. In medical devices, the proximal end refers to the end of the device closer to the operator during operation, and the distal end refers to the end of the device farther from the operator or from the patient during operation.

[0067] The standard first posture is a pre-set standard action within the system that corresponds to the patient holding the ball at 100 degrees.

[0068] Example 1

[0069] This embodiment provides a rehabilitation training device.

[0070] The rehabilitation training device includes a ball 100, a torsion member 300 containing a counting component, and a grip strength band 200 connected to the ball 100 via the torsion member 300, such as Figure 1 As shown. Torsion members 300 are provided at opposite ends of the sphere 100. Two grip bands 200 are connected to the sphere 100 through the torsion members 300 and are also arranged opposite to each other, as shown. Figure 5 The sphere 100 shown in the suspended state, when the grip bands 200 at both ends of the sphere 100 are in a taut state, allows the sphere 100 to rotate relative to the grip bands 200 when affected by an external force. Under the control of the external force, the sphere 100 can rotate relative to the grip bands 200 based on the torsion member 300, so that the counting component provided on the torsion member 300 can collect the number of rotations of the controlled sphere 100.

[0071] Figure 2 This shows the device in use when the patient is holding the ball 100, such as... Figure 2As shown, the two ends of the grip band 200 are self-connected via connectors 230 to form a retaining ring. The retaining ring can fit over the patient's hand.

[0072] Specifically, when the patient applies pressure to the ball 100 with their hand, the retaining ring can fix the ball 100 in relative position to the patient's hand. If the ball 100 detaches from the patient's hand due to weakness, trembling, or impact, the retaining ring connected to the ball 100 and fitted onto the patient's hand can secure the ball 100 in the patient's hand.

[0073] According to a preferred embodiment, such as Figure 1 As shown, the grip band 200 includes a narrow band 210 and a wide band 220. The width of the wide band 220 is greater than that of the narrow band 210. When the two ends of the grip band 200 are self-connected, the wide band 220 can avoid exerting significant pressure on the patient's hand (or causing marks on the patient's hand). Preferably, the narrow band 210 is located on the side closer to the ball 100, and the wide band 220 is located on the side farther from the ball 100. When the patient grips the ball 100, a portion of the narrow band 210 is suspended, while the entire area of ​​the wide band 220 is in contact with the hand. Preferably, the wide band 220 is an elastic band. Preferably, the connector 230 is a buckle.

[0074] like Figure 3 As shown, when the patient pinches and grasps the narrow band 210 with their fingers, the ball 100 can be lifted relatively easily by the lifting device because the narrow band 210 is close to the ball 100.

[0075] According to a preferred embodiment, the width of the narrow band 210 of the grip band 200 provided at both ends of the sphere 100 is different.

[0076] Preferably, the device further includes fixing straps 500 that are respectively connected to the grip bands 200 disposed at both ends of the ball 100. Figure 5 As shown, one end of the fixing strap 500 can be connected to the fixing surface, and the other end is connected to the grip band 200. The two grip bands 200, which are arranged opposite to the ball 100, are respectively connected to the two fixing straps 500, so that the ball 100 is suspended in the air. The patient holds the ball 100 and rotates the ball 100, causing the ball 100 to rotate relative to the grip band 200.

[0077] Pressure sensing components are distributed on the surface of the sphere 100. Based on the pressure applied by the patient's hand to the sphere 100, the pressure sensing components acquire the patient's hand posture and the force applied by the hand. Preferably, multiple pressure sensing components are arranged in a dot matrix on the surface of the sphere 100 to generate a hand grip posture when pressure changes are acquired at various locations on the surface of the sphere 100. Preferably, the pressure sensing components are patch-type pressure sensors.

[0078] According to a preferred embodiment, the torsion member 300 includes a counting component. Preferably, the counting component is a counting gear.

[0079] According to a preferred embodiment, such as Figure 4 As shown, the rehabilitation training device can also be used for stretching exercises. The patient holds both ends of the grip band 200 and pulls the grip band 200 along the first direction 400.

[0080] like Figure 4 As shown, the first direction 400 is the extension direction of the grip band 200.

[0081] Example 2

[0082] This embodiment is consistent with the previous embodiment in terms of hardware setup, with improvements only made in data acquisition and processing.

[0083] This embodiment includes a rehabilitation training device, a processor 600, and a detection module 700 for training.

[0084] The rehabilitation training device has a pressure sensing component at the point where it contacts the patient's hand. Based on the patient's training content, the processor 600 processes some of the pressure change values ​​transmitted by the pressure sensing component to sense the force exertion posture of the patient's hand. Preferably, the detection module 700 has an audio playback function. Preferably, the detection module 700 is a smart bracelet capable of signal transmission with the processor 600.

[0085] When the device is in the first training mode, which provides muscle rehabilitation exercises for the patient, such as Figure 6 As shown, depending on the position of the patient's hand against the device, the processor 600 records the number of pressure changes where the pressure difference transmitted by the pressure sensing component on the sphere 100 of the device is greater than a preset threshold.

[0086] When the number of pressure changes reaches a preset threshold, the detection module 700, which is connected to the patient in real time, prompts the patient to enter the second training mode of motor imagery, such as... Figure 7 As shown.

[0087] When the detection module 700 completes the playback of the prompting audio for the patient's motor imagery, and the electromyographic signal of the muscle tissue corresponding to the patient's most recent hand exercise enters the first range representing the normalization of the patient's muscle tissue, the processor 600 triggers the torsion sensing component set on the torsion member 300 between the grip band 200 and the ball 100 of the device to start working, so as to record the number of times the patient twists the ball 100 at an angle greater than a preset threshold when exercising the wrist, such as... Figure 8 As shown.

[0088] When the patient is guided to place their hand against the sphere 100 of the device and the processor 600 senses that the patient's hand is in the correct force-applying posture based on the pressure sensing component of the sphere 100, the processor 600 records the number of pressure changes where the pressure difference transmitted by the pressure sensing component on the sphere 100 of the device is greater than a preset threshold. When the number of pressure changes reaches the preset threshold, the detection module 700 is triggered to prompt the patient to enter the second training mode of motor imagery.

[0089] Example 3

[0090] This embodiment is consistent with the previous embodiment in terms of hardware setup, with improvements only made in data acquisition and processing.

[0091] When the device is in the first training mode that provides muscle rehabilitation exercises for the patient, the processor 600 records the number of pressure changes in which the pressure difference transmitted by the pressure sensing component on the sphere 100 of the device is greater than a preset threshold, based on the position of the patient's hand against the device.

[0092] When the number of pressure changes reaches a preset threshold, the detection module 700, which is connected to the patient in real time, prompts the patient to enter the second training mode of motor imagery.

[0093] When the detection module 700 finishes playing the audio prompts for the patient's motor imagery, and the electromyographic signal of the muscle tissue corresponding to the patient's most recent hand exercise enters the second range representing the fatigue state of the patient's muscle tissue, the processor 600 controls the detection module 700 to provide the patient with repeated active muscle relaxation motor imagery guidance.

[0094] Preferably, the guided motor imagery provided to the patient includes: completing four different imagery training exercises focusing on the target muscle groups or joints that the patient needs to improve, each lasting less than 2 minutes, guided by audio prompts; imagining reaching for a cup on a table, bringing the cup to their lips, and slowly drinking the water; imagining raising their arm overhead and then returning it to its original position; imagining spreading their fingers as wide as possible and then clenching their fist; and imagining using their hand to move a ping-pong ball from their abdomen to their side. Each imagery task is repeated 1-5 times. In the final 1-2 minutes, the patient focuses their attention on their body and surroundings, while the audio prompts a countdown of 10. Upon reaching 1, the patient opens their eyes to end the training. The total treatment time is 15 minutes.

[0095] Providing patients with repetitive guided imagery of active muscle relaxation includes:

[0096] Guided by audio prompts, help patients focus their attention on their own bodies and their surroundings.

[0097] Until the patient's electromyographic signal enters the first range representing the patient's muscle state returning to normal, the processor 600 triggers the torsion sensing component set on the torsion member 300 between the grip band 200 and the ball 100 of the device to start working, so as to record the number of times the patient twists the ball 100 at an angle greater than a preset threshold when exercising the wrist.

[0098] When the patient is guided to place their hand against the sphere 100 of the device and the processor 600 senses that the patient's hand is in the correct force-applying posture based on the pressure sensing component of the sphere 100, the processor 600 records the number of pressure changes where the pressure difference transmitted by the pressure sensing component on the sphere 100 of the device is greater than a preset threshold. When the number of pressure changes reaches the preset threshold, the detection module 700 is triggered to prompt the patient to enter the second training mode of motor imagery.

[0099] Example 4

[0100] This embodiment is consistent with the previous embodiment in terms of hardware setup, with improvements only made in data acquisition and processing.

[0101] The patient is guided to place their hand against the sphere 100 of the device. The processor 600 senses the patient's hand posture based on the pressure sensing component of the sphere 100.

[0102] Based on the hand grip posture signal generated by the patient, when no pressure value is detected in some areas and / or pressure value is detected in some non-hand placement areas, the processor 600 can control the detection module 700 to issue an alert and guide the patient to adjust the grip posture.

[0103] Preferably, when the areas (corresponding to the fingers) where pressure values ​​are detected are connected, indicating that the patient's fingers are in a closed gripping state (abnormal posture), the processor 600 controls the detection module 700 to issue an alert until there are four areas where pressure values ​​are not detected between the areas (corresponding to the fingers) where pressure values ​​are detected.

[0104] The processor 600 records the number of pressure changes transmitted by the pressure sensing component on the sphere 100 of the device when the pressure difference exceeds a preset threshold, and triggers the detection module 700 to prompt the patient to enter the second training mode of motor imagery when the number of pressure changes reaches the preset threshold.

[0105] When the device is in the first training mode that provides muscle rehabilitation exercises for the patient, the processor 600 records the number of pressure changes in which the pressure difference transmitted by the pressure sensing component on the sphere 100 of the device is greater than a preset threshold, based on the position of the patient's hand against the device.

[0106] When the number of pressure changes reaches a preset threshold, the detection module 700, which is connected to the patient in real time, prompts the patient to enter the second training mode of motor imagery.

[0107] When the detection module 700 finishes playing the prompting audio for the patient's motor imagery, and the electromyographic signal of the muscle tissue corresponding to the patient's most recent hand exercise enters the first range representing the recovery of the patient's muscle tissue to normal, the processor 600 triggers the torsion sensing component set on the torsion member 300 between the grip band 200 and the ball 100 of the device to start working, so as to record the number of times the patient twists the ball 100 with a twisting angle greater than a preset threshold when exercising the wrist.

[0108] Example 5

[0109] This embodiment is consistent with the previous embodiment in terms of hardware setup, with improvements only made in data acquisition and processing.

[0110] The rehabilitation training device has a pressure sensing component at the point where it contacts the patient's hand. Based on the patient's training content, the processor 600 processes some of the pressure change values ​​transmitted by the pressure sensing component to sense the force exertion posture of the patient's hand.

[0111] When the device is in the first training mode that provides muscle rehabilitation exercises for the patient, the processor 600 records the number of pressure changes in which the pressure difference transmitted by the pressure sensing component on the sphere 100 of the device is greater than a preset threshold, based on the position of the patient's hand against the device.

[0112] When the number of pressure changes reaches a preset threshold, the detection module 700, which is connected to the patient in real time, prompts the patient to enter the second training mode of motor imagery.

[0113] When the detection module 700 completes the playback of the prompting audio for the patient's motor imagery, and the electromyographic signal of the muscle tissue corresponding to the patient's most recent hand exercise enters the first range representing the recovery of the patient's muscle tissue to normal, the processor 600 triggers the torsion sensing component set on the torsion member 300 between the grip band 200 and the ball 100 of the device to start working.

[0114] The processor 600 records the number of times a patient twists a ball 100 at an angle greater than a preset threshold during wrist exercises. When the electromyography (EMG) signal detection element located in the patient's flexor muscles detects an EMG signal indicating that the flexor muscles are fatigued, the processor 600 stops counting and guides the patient to stop rotating their wrist.

[0115] When the electromyography (EMG) signal detection element set in the patient's flexor muscles detects the EMG signal of the flexor muscles that contribute the most to the wrist twisting, indicating that the flexor muscles have returned to normal, the processor 600 guides the patient to rotate the ball 100 again and starts counting from the total count value before the counting was stopped.

[0116] Example 6

[0117] This embodiment provides a method for detecting rehabilitation training.

[0118] The rehabilitation training assessment method includes a first training mode for exercising the patient's hand, a second training mode for exercising the patient's muscle and nerve coordination, and a third training mode for exercising the patient's wrist. In the continuous training process, the second training mode is completed between the first and third training modes.

[0119] The first training mode is used to exercise the patient's hands. The second training mode is based on motor imagery to stimulate the patient's cortical nerves (including the central nervous system), improving the patient's precision in muscle control. The third training mode is used to exercise the patient's wrist joint.

[0120] Example 7

[0121] like Figure 9 As shown, the torsion member 300 has a receiving cavity 310, inside which are housed an angle sensor 320, a mobile power supply 330, and a spindle 340. One end of the spindle 340 is connected to the grip band 200, and the other end passes through the receiving cavity 310 and is connected to the ball 100. The angle sensor 320 is electrically connected to the mobile power supply 330, and the processor 600 can receive the angle data transmitted by the angle sensor 320 and convert the transmitted angle data into the number of rotations of the spindle 340.

[0122] When the detection module 700 completes the playback of the prompting audio for the patient's motor imagery, and the electromyographic signal of the muscle tissue corresponding to the patient's most recent hand exercise enters the first range representing the recovery of the patient's muscle tissue to normal, the processor 600 triggers the torsion sensing component (i.e., angle sensor 320 and mobile power supply 330) set on the torsion member 300 between the grip band 200 and the ball 100 of the device to start working.

[0123] When the patient holds and twists the ball 100, the twisting sensor component is activated and begins counting.

[0124] When the patient is in the first training mode, the torsion element 300 is in a dormant state and will not record or collect data on the angle changes caused by the patient holding or twisting the ball 100.

[0125] Example 8

[0126] like Figure 10 As shown, the pressure sensing components 110 can be arranged in a hand-like form, that is, at least five pressure sensing components 110 are arranged on the surface of the sphere 100, and the arrangement positions of the pressure sensing components 110 are displayed on the surface of the sphere 100 in an image (due to the limitations of the three-dimensional display surface). Figure 10 (The complete set of five pressure sensing components 110 is not shown).

[0127] When the patient is in the first training mode, the pressure sensing components 110 distributed on the sphere 100 can confirm that the patient's hand posture is a five-finger grip (i.e., all five pressure sensing components 110 sense pressure) by the pressure generated by the patient's hand squeezing. At the same time, during the training process, if at least three of the five pressure sensing components 110 do not sense any change in pressure, the processor 600 will not count the training session in the total.

[0128] When the patient is in the second training mode, the pressure sensing components 110 distributed on the sphere 100 sense the pressure on the patient's hand. Since the second training mode is a training mode that prompts the patient to enter motor imagery, when the pressure sensing components 110 sense pressure, the processor 600 generates a command prompting the patient to relax their hand.

[0129] It should be noted that the specific embodiments described above are exemplary. Those skilled in the art can devise various solutions inspired by the disclosure of this invention, and these solutions all fall within the scope of this invention and its protection. Those skilled in the art should understand that this specification and its accompanying drawings are illustrative and do not constitute a limitation on the claims. The scope of protection of this invention is defined by the claims and their equivalents. This specification contains multiple inventive concepts; terms such as "preferredly," "according to a preferred embodiment," or "optionally" indicate that the corresponding paragraph discloses an independent concept. The applicant reserves the right to file divisional applications based on each inventive concept. Throughout the text, features introduced by "preferredly" are merely optional and should not be construed as mandatory. Therefore, the applicant reserves the right to abandon or delete relevant preferred features at any time.

Claims

1. A rehabilitation training system, characterized in that, The rehabilitation training system includes a rehabilitation training device for providing upper limb exercises to the patient, a processor (600), and a detection module (700) for providing guidance on motor imagery to the patient. Between the first training mode of squeezing the ball (100) of the device for hand exercise and the third training mode of twisting the ball (100) of the device for wrist exercise, the processor (600) triggers the detection module (700) to collect electromyographic signals from the patient's hand in the second training mode in a motor imagery manner, in order to confirm the electromyographic signal detection component of the patient's hand muscle state, so that when the electromyographic signal of the patient's hand muscles enters the first range representing the recovery of the patient's hand muscles to a normal state, the torsion sensing component set on the torsion member (300) between the grip band (200) of the device and the ball (100) can transmit the data of the number of times the patient twists the ball (100) with a torsion angle greater than a preset threshold when exercising the wrist to the processor (600).

2. The rehabilitation training system according to claim 1, characterized in that, The first training mode for squeezing the ball (100) of the device to exercise the hands includes: When the patient holds the ball (100) of the device in a first spherical grip posture, the processor (600) generates a hand posture for comparison with a standard first posture based on the position information of the pressure sensing component generated by the pressure change generated by the hand squeezing the ball (100) of the device, and collects pressure changes with the currently recorded position information.

3. The rehabilitation training system according to claim 2, characterized in that, The third training mode, which involves twisting the ball (100) of the device to exercise the wrist, includes: In the third training mode, when the angle of rotation of the ball (100) relative to the grip band (200) connected to it exceeds a preset threshold, the ball (100) is rotated so that the number of rotations of the ball (100) recorded by the processor (600) is not less than the preset number of rotations.

4. The rehabilitation training system according to claim 3, characterized in that, When the processor (600) triggers the detection module (700) to collect electromyographic signals from the patient's hand in a second training mode using motor imagery to confirm the state of the patient's hand muscles, and the electromyographic signal collected by the electromyographic signal detection component is in the second range representing the fatigue state of the patient's hand muscles, the processor (600) controls the detection module (700) to provide the patient with repeated active muscle relaxation motor imagery guidance.

5. The rehabilitation training system according to claim 3, characterized in that, The motion visualization includes: Audio provided by the detection module (700) to guide the patient to imagine raising the upper limb, adjusting the hand to a first posture and / or a second posture, and rotating the wrist circumferentially.

6. The rehabilitation training system according to claim 1, characterized in that, In the third training mode, when the angle of the rotating sphere (100) is less than a preset threshold, the processor (600) counts based on the number of rotations recorded previously.

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