A rotationally regulated vestibular semicircular canal rehabilitation training system

Abstract

The vestibular semicircular canal rehabilitation training system with rotation adjustment of the present invention comprises: a motor mounting seat is fixed on the surface of a fixed base, a servo motor is fixed on the surface of the motor mounting seat, a motor gear is fixed on the end of the output shaft of the servo motor, the motor gear meshes with a transmission gear, a fixed transmission shaft is passed through the center hole of the transmission gear, the transmission shaft and the servo motor are vertically arranged, a seat body is fixed on the top of the transmission shaft, seat protection armrests are respectively fixed on both sides of the seat body, seat protection safety restraint belts are respectively fixed on both sides of the backrest, and an angular velocity sensor and an acceleration sensor are provided on the seat body; a control host retrieves a vestibular rehabilitation training program for a target patient, controls the rotation of the servo motor based on a target rotation speed in the vestibular rehabilitation training program, the servo motor drives the transmission shaft to rotate, and the target patient on the seat body rotates accordingly, receives the angular velocity sensor to monitor the feedback rotation speed in real time, and adjusts the rotation speed of the servo motor so that the feedback rotation speed is equal to the target rotation speed.

Description

Technical Field

[0001] The present invention relates to the field of medical rehabilitation technology, and in particular to a rotationally regulated vestibular semicircular canal rehabilitation training system, which is intended to help patients with vestibular dysfunction to perform effective rehabilitation training. Background Art

[0002] The semicircular canals in the vestibular system are responsible for sensing the rotational movement of the head and are essential for maintaining body balance and spatial positioning. Impaired semicircular canal function may lead to severe symptoms such as dizziness and postural instability. Existing rehabilitation methods often rely on physical therapy and static balance training, which lack direct and quantitative stimulation of the vestibular semicircular canal function, resulting in limited rehabilitation effects and difficulty in personalization. Therefore, it is particularly important to develop a rehabilitation training system that can provide precise rotational acceleration control, is highly targeted, and can adjust training parameters in real time according to patient responses. Summary of the invention

[0003] The present invention aims at the problems and shortcomings of the prior art and provides a rotationally regulated vestibular semicircular canal rehabilitation training system.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] The invention provides a rotationally regulated vestibular semicircular canal rehabilitation training system, which is characterized in that it comprises a fixed base, a motor mounting seat is fixed on the surface of the fixed base, a servo motor is fixed on the surface of the motor mounting seat, a motor gear is fixed on the end of the output shaft of the servo motor, a transmission gear is meshed with the motor gear, a transmission shaft is passed through and fixed in the center hole of the transmission gear, the transmission shaft and the servo motor are both vertically arranged, a seat body is fixed on the top of the transmission shaft, seat protection armrests are respectively fixed on both sides of the seat body, seat protection safety restraint belts are respectively fixed on both sides of the backrest of the seat body, an angular velocity sensor and an acceleration sensor are arranged on the seat body, and the angular velocity sensor, the acceleration sensor and the servo motor are all electrically connected to a control host.

[0006] The control host is used to manage the basic information and vestibular rehabilitation training program of each vestibular dysfunction patient, analyze the target vestibular dysfunction patient based on the input patient information, call out the vestibular rehabilitation training program of the target vestibular dysfunction patient, and control the rotation of the servo motor based on the target rotation speed in the vestibular rehabilitation training program. The servo motor drives the transmission shaft to rotate accordingly, and receives the rotation speed fed back by the angular velocity sensor in real time monitoring. The rotation speed of the servo motor is adjusted so that the fed back rotation speed is equal to the target rotation speed. During the training process, the control host displays the fed back rotation speed in real time.

[0007] The control host is also used to control the rotation of the servo motor based on the target rotational acceleration in the vestibular rehabilitation training program. The servo motor drives the transmission shaft to rotate accordingly, so that the target vestibular dysfunction patient on the seat body rotates accordingly, and receives the rotational acceleration feedback from the acceleration sensor in real time. The rotational acceleration of the servo motor is adjusted so that the feedback rotational acceleration is equal to the target rotational acceleration. During the training process, the control host displays the feedback rotational acceleration in real time.

[0008] The positive and progressive effects of the present invention are:

[0009] The present invention will provide an efficient, safe and personalized rehabilitation method for patients with vestibular semicircular canal dysfunction, and is expected to significantly improve their quality of life.

[0010] The present invention activates and reshapes the vestibular semicircular canal function of patients through adjustable rotational dynamic stimulation, and then intelligently controls the training program through monitoring feedback, thereby effectively promoting the adaptation and recovery of the patient's vestibular system.

[0011] The present invention supports customization of rehabilitation plans according to the patient's specific condition, forms a vestibular rehabilitation training program, and realizes precise rehabilitation training.

[0012] The present invention utilizes VR technology combined with eye tracking feedback technology, which not only improves the scientificity and effectiveness of rehabilitation training, but also greatly enhances the patient's sense of participation and satisfaction, thereby improving the enthusiasm and sustainability of rehabilitation.

[0013] The present invention can automatically adjust the training intensity according to the patient's immediate nystagmus visual response, reduce discomfort, and improve rehabilitation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic structural diagram of the rotationally regulated vestibular semicircular canal rehabilitation training system of Example 1 of the present invention.

[0015] Figure 2 This is a schematic diagram of the structure of the VR glasses according to Example 1 of the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0017] Example 1

[0018] like Figure 1 As shown, the present embodiment provides a rotationally regulated vestibular semicircular canal rehabilitation training system, which includes a fixed base 1, a motor mounting seat 2 is fixed on the surface of the fixed base 1, a servo motor 3 is fixed on the surface of the motor mounting seat 2, a motor gear 4 is fixed on the output shaft end of the servo motor 3, a transmission gear 5 is meshed with the motor gear 4, a transmission shaft 6 is fixed in the center hole of the transmission gear 5, the transmission shaft 6 and the servo motor 3 are both vertically arranged, a limiting column 7 is also fixed on the surface of the fixed base 1, a limiting groove is fixed on the inner bottom of the limiting column 7, and the lower part of the transmission shaft 6 is placed in the limiting column 7 , and the bottom of the transmission shaft 6 is placed in the limiting groove, a seat body 8 is fixed on the top of the transmission shaft 6, seat protection armrests 9 are fixed on both sides of the seat body 8, seat protection safety belts 10 are fixed on both sides of the backrest of the seat body 8, a placement plate 11 for leg support and foot placement is fixed on the front side of the seat plate of the seat body 8, and a mounting plate 12 is fixed on the rear side. The placement plate 11 and the mounting plate 12 have the same shape and are symmetrically arranged, and a seat cabin protective cover 13 is fixed at three points using the front end of the placement plate 11, the top of the backrest of the seat body 8 and the rear end of the mounting plate 12.

[0019] A console column 14 is fixed to the surface of the fixed base 1, and a power supply 15 and a control host 16 are fixed to the console column 14. An angular velocity sensor and an acceleration sensor are arranged on the seat body 8. The power supply 15 is used to supply power to the angular velocity sensor, the acceleration sensor, the servo motor 3 and the control host 16. The angular velocity sensor, the acceleration sensor and the servo motor 3 are all electrically connected to the control host 16.

[0020] A medical insurance card reading area is provided on the control host 16, and the control host 16 is used to manage the basic information and vestibular rehabilitation training program of each vestibular dysfunction patient, read the medical insurance card on the medical insurance card reading area, analyze the target vestibular dysfunction patient, and retrieve the vestibular rehabilitation training program of the target vestibular dysfunction patient. The vestibular rehabilitation training program is pre-input into the control host 16 by the doctor.

[0021] The control host 16 is also used to control the rotation of the servo motor 3 based on the target rotation speed in the vestibular rehabilitation training program. The servo motor 3 drives the transmission shaft 6 to rotate accordingly, so that the target vestibular dysfunction patient on the seat body 8 rotates accordingly, and receives the rotation speed feedback from the angular velocity sensor in real time. By adjusting the rotation speed of the servo motor 3, the feedback rotation speed is equal to the target rotation speed. During the training process, the control host 16 displays the feedback rotation speed in real time.

[0022] The control host 16 is also used to control the rotation of the servo motor 3 based on the target rotational acceleration in the vestibular rehabilitation training program. The servo motor 3 drives the transmission shaft 6 to rotate accordingly, so that the target vestibular dysfunction patient on the seat body 8 rotates accordingly, and receives the rotational acceleration feedback from the acceleration sensor in real time. By adjusting the rotational acceleration of the servo motor 3, the feedback rotational acceleration is equal to the target rotational acceleration. During the training process, the control host 16 displays the feedback rotational acceleration in real time.

[0023] Moreover, if Figure 2 As shown, the system also includes VR glasses 20, and the control host 16 is also used to control the VR glasses 20 to provide immersive visual feedback for the target vestibular dysfunction patient. The immersive visual feedback provided by VR technology can reduce the discomfort of the target vestibular dysfunction patient during rotation training and increase the fun and participation of the training.

[0024] An infrared camera 21 is additionally provided on the inner side of the VR glasses 20, and the infrared camera 21 is used to capture the real-time movement images of the eyeballs of the target vestibular dysfunction patient.

[0025] The control host 16 is also used to perform grayscale conversion, cropping, and pupil center positioning on each frame of the eyeball image received in a time sequence during the rotation speed adjustment process, so as to obtain the change of the center coordinate of the pupil of the target vestibular dysfunction patient in a time sequence, and before the first time the change value between the subsequent pupil center coordinate and the previous pupil center coordinate is greater than the set threshold, the rotation speed of the servo motor is adjusted so that the feedback rotation speed is equal to the target rotation speed. Each time the change value between the subsequent pupil center coordinate and the previous pupil center coordinate is greater than the set threshold, the rotation speed of the servo motor 3 is adjusted to decrease until the change value of the subsequent pupil center coordinate is less than or equal to the set threshold and the adjusted rotation speed is maintained.

[0026] The control host 16 is also used to perform grayscale conversion, cropping, and pupil center positioning on each frame of the eyeball image received in a time sequence during the rotational acceleration adjustment process, so as to obtain the change of the center coordinate of the pupil of the target vestibular dysfunction patient in a time sequence, and before the first time that the change value of the subsequent pupil center coordinate and the previous pupil center coordinate is greater than the set threshold, the rotational acceleration of the servo motor is adjusted so that the feedback rotational acceleration is equal to the target rotational acceleration, and each time the change value of the subsequent pupil center coordinate and the previous pupil center coordinate is greater than the set threshold, the acceleration of the servo motor 3 is adjusted to decrease until the change value of the subsequent pupil center coordinate is less than or equal to the set threshold and the adjusted acceleration is maintained.

[0027] In this solution, the seat body 8 and the seat cabin protective cover 13 constitute a rotating cabin. The rotating cabin is designed as a bearing unit for patients with vestibular dysfunction and is equipped with a comfortable seat and a safety restraint device (seat protective armrest 9 and seat protective safety restraint belt 10) to ensure the safety and comfort of patients with vestibular dysfunction during the rotation process. The seat cabin protective cover 13 arranged on the periphery of the seat can strengthen the multiple safety protections for the person on the seat.

[0028] In this solution, the precision rotating mechanism uses a high-precision servo motor and transmission system to achieve smooth and precise rotation of the rotating cockpit, and can adjust the rotation speed and acceleration. It provides acceleration changes as small as 0.01 degrees / second^2 to meet the needs of different rehabilitation stages.

[0029] In this solution, after the system is started, according to the personalized vestibular rehabilitation training program set by the doctor, the rotating mechanism is driven by the control host to make the rotating cabin rotate at a specific rotation speed or rotation acceleration.

[0030] In this solution, the nystagmus condition (changes in the central coordinates of the pupil) of the target vestibular dysfunction patient is monitored in real time, and the training intensity is intelligently adjusted based on the changes in nystagmus to ensure that the training is both effective and safe.

[0031] In this scheme, the horizontal angular velocity movement state of the body is simulated by adjusting the rotation speed or rotation acceleration, thereby effectively stimulating the horizontal vestibular semicircular canals of the target vestibular dysfunction patients and promoting their function to be compensated and restored.

[0032] Example 2

[0033] The control host 16 is used to retrieve the vestibular rehabilitation training program for the target vestibular dysfunction patient. The vestibular rehabilitation training program includes M training sessions and target rest time between two adjacent training sessions. Each training session includes a target rotation speed and its target rotation time, or a target rotation acceleration and its target rotation time.

[0034] The control host 16 is also used to control the servo motor to rotate the target rotation time in the i-th training based on the target rotation speed or target rotation acceleration in the i-th training in the vestibular rehabilitation training program. The servo motor 3 drives the transmission shaft 6 to rotate accordingly, and receives the rotation speed or acceleration feedback from the angular velocity sensor to monitor the rotation acceleration in real time. By adjusting the rotation speed or rotation acceleration of the servo motor 3, the feedback rotation speed is equal to the target rotation speed or the rotation acceleration is equal to the target rotation acceleration. When the i-th training reaches the corresponding target rotation time, the servo motor is controlled to pause the corresponding target rest time. During the training process, the control host 16 displays the feedback rotation speed or rotation acceleration in real time. i is selected from 1 to M in sequence, and i and M are both positive integers.

[0035] The control host 16 is also used to perform grayscale conversion, cropping, and pupil center positioning on each frame of the eyeball image received in a time sequence during the rotation speed or rotation acceleration adjustment process in the i-th training, so as to obtain the change of the center coordinate of the pupil of the target vestibular dysfunction patient in a time sequence, and before the first time that the change value of the subsequent pupil center coordinate and the previous pupil center coordinate is greater than the set threshold, the rotation speed or rotation acceleration of the servo motor 3 is adjusted so that the feedback rotation speed is equal to the target rotation speed or the rotation acceleration is equal to the target rotation acceleration. Each time the change value of the subsequent pupil center coordinate and the previous pupil center coordinate is greater than the set threshold, the rotation speed or rotation acceleration of the servo motor 3 is adjusted to decrease until the change value of the subsequent pupil center coordinate is less than or equal to the set threshold and the adjusted rotation speed or adjusted acceleration is maintained. When the i-th training reaches the corresponding target rotation time, the servo motor 3 is controlled to pause the corresponding target rest time.

[0036] Although the specific embodiments of the present invention are described above, those skilled in the art should understand that these are only examples, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A rotationally regulated vestibular semicircular canal rehabilitation training system, characterized in that: It includes a fixed base, a motor mounting base is fixed on the surface of the fixed base, a servo motor is fixed on the surface of the motor mounting base, a motor gear is fixed on the end of the output shaft of the servo motor, a transmission gear is meshed with the motor gear, a transmission shaft is passed through and fixed in the center hole of the transmission gear, the transmission shaft and the servo motor are both vertically arranged, a seat body is fixed on the top of the transmission shaft, seat protection armrests are respectively fixed on both sides of the seat body, seat protection safety restraint belts are respectively fixed on both sides of the backrest of the seat body, an angular velocity sensor and an acceleration sensor are arranged on the seat body, and the angular velocity sensor, the acceleration sensor and the servo motor are all electrically connected to the control host; The control host is used to manage the basic information and vestibular rehabilitation training program of each vestibular dysfunction patient, analyze the target vestibular dysfunction patient based on the input patient information, call out the vestibular rehabilitation training program of the target vestibular dysfunction patient, control the rotation of the servo motor based on the target rotation speed in the vestibular rehabilitation training program, the servo motor drives the transmission shaft to rotate accordingly, and receives the rotation speed fed back by the angular velocity sensor in real time monitoring, and adjusts the rotation speed of the servo motor so that the fed back rotation speed is equal to the target rotation speed. During the training process, the control host displays the fed back rotation speed in real time; The control host is also used to control the rotation of the servo motor based on the target rotation acceleration in the vestibular rehabilitation training program. The servo motor drives the transmission shaft to rotate accordingly, so that the target vestibular dysfunction patient on the seat body rotates accordingly, and receives the rotation acceleration fed back by the acceleration sensor in real time, and adjusts the rotation acceleration of the servo motor so that the feedback rotation acceleration is equal to the target rotation acceleration. During the training process, the control host displays the feedback rotation acceleration in real time; The system further includes VR glasses, and the control host is used to control the VR glasses to provide immersive visual feedback to the target vestibular dysfunction patient; An infrared camera is additionally provided on the inner side of the VR glasses, and the infrared camera is used to capture the real-time movement image of the eyeball of the target vestibular dysfunction patient; The control host is also used to perform grayscale conversion, cropping, and pupil center positioning on each frame of eyeball image received in a time sequence during the rotation speed adjustment process, so as to obtain the change of the center coordinate of the pupil of the target vestibular dysfunction patient in a time sequence, and before the first occurrence of the change value between the subsequent pupil center coordinate and the previous pupil center coordinate being greater than a set threshold, adjust the rotation speed of the servo motor so that the feedback rotation speed is equal to the target rotation speed, and each time the change value between the subsequent pupil center coordinate and the previous pupil center coordinate is greater than the set threshold, adjust the rotation speed of the servo motor to reduce until the change value of the subsequent pupil center coordinate is less than or equal to the set threshold and maintain the adjusted rotation speed; The control host is also used to perform grayscale conversion, cropping, and pupil center positioning on each frame of eyeball image received in a time sequence during the rotational acceleration adjustment process, so as to obtain the change of the center coordinate of the pupil of the target vestibular dysfunction patient in a time sequence, and before the first time that the change value of the subsequent pupil center coordinate and the previous pupil center coordinate is greater than the set threshold, the rotational acceleration of the servo motor is adjusted so that the feedback rotational acceleration is equal to the target rotational acceleration, and each time the change value of the subsequent pupil center coordinate and the previous pupil center coordinate is greater than the set threshold, the acceleration of the servo motor is adjusted to decrease until the change value of the subsequent pupil center coordinate is less than or equal to the set threshold and the adjusted acceleration is maintained.

2. The rotationally regulated vestibular semicircular canal rehabilitation training system according to claim 1, characterized in that: The control host is used to retrieve a vestibular rehabilitation training program for a target vestibular dysfunction patient, wherein the vestibular rehabilitation training program includes M training sessions and target rest periods between two adjacent training sessions, and each training session includes a target rotation speed and a target rotation time, or a target rotation acceleration and a target rotation time; The control host is also used to control the servo motor to rotate for the target rotation time in the i-th training based on the target rotation speed or target rotation acceleration in the i-th training in the vestibular rehabilitation training program. The servo motor drives the transmission shaft to rotate accordingly, and receives the rotation speed or rotation acceleration fed back by the angular velocity sensor for real-time monitoring, and the rotation speed or rotation acceleration fed back by the acceleration sensor for real-time monitoring. The rotation speed or rotation acceleration of the servo motor is adjusted so that the fed-back rotation speed is equal to the target rotation speed or the rotation acceleration is equal to the target rotation acceleration. When the target rotation time is reached in the i-th training, the servo motor is controlled to pause the corresponding target rest time. During the training process, the control host displays the fed-back rotation speed or rotation acceleration in real time. i is selected from 1 to M in sequence, and i and M are both positive integers.

3. The rotationally regulated vestibular semicircular canal rehabilitation training system according to claim 2, characterized in that: The system further includes VR glasses, and the control host is used to control the VR glasses to provide immersive visual feedback to the target vestibular dysfunction patient; An infrared camera is additionally provided on the inner side of the VR glasses, and the infrared camera is used to capture the real-time movement image of the eyeball of the target vestibular dysfunction patient; The control host is also used to perform grayscale conversion, cropping, and pupil center positioning on each frame of eyeball image received in time sequence during the rotation speed or rotation acceleration adjustment process in the i-th training, so as to obtain the change of the center coordinate of the pupil of the target vestibular dysfunction patient in time sequence, and before the first time that the change value of the subsequent pupil center coordinate and the previous pupil center coordinate is greater than the set threshold, adjust the rotation speed or rotation acceleration of the servo motor so that the feedback rotation speed is equal to the target rotation speed or the rotation acceleration is equal to the target rotation acceleration, and each time the change value of the subsequent pupil center coordinate and the previous pupil center coordinate is greater than the set threshold, adjust the rotation speed or rotation acceleration of the servo motor to decrease until the change value of the subsequent pupil center coordinate is less than or equal to the set threshold and maintain the adjusted rotation speed or adjusted acceleration, and control the servo motor to pause the corresponding target rest time when the corresponding target rotation time is reached in the i-th training.

4. The rotationally regulated vestibular semicircular canal rehabilitation training system according to claim 1, characterized in that: The control host is provided with a medical insurance card reading area, and the control host is used to read the medical insurance card on the medical insurance card reading area and analyze the target vestibular dysfunction patient.

5. The rotationally regulated vestibular semicircular canal rehabilitation training system according to claim 1, characterized in that: The front side of the seat plate of the seat body is fixed with a placement plate for leg support and foot placement, and the rear side is fixed with a mounting plate. A seat cabin protective cover is fixed at three points using the front end of the placement plate, the top of the backrest and the rear end of the mounting plate.

6. The rotationally regulated vestibular semicircular canal rehabilitation training system according to claim 5, characterized in that: The placement plate and the installation plate have the same shape and are symmetrically arranged.

7. The rotationally regulated vestibular semicircular canal rehabilitation training system according to claim 1, characterized in that: A limiting column is fixed on the surface of the fixed base, a limiting groove is fixed on the inner bottom of the limiting column, the lower part of the transmission shaft is placed in the limiting column, and the bottom of the transmission shaft is placed in the limiting groove.

8. The rotationally regulated vestibular semicircular canal rehabilitation training system according to claim 1, characterized in that: A console column is fixed on the surface of the fixed base, and a power supply and a control host are fixed on the console column. The power supply is used to supply power to the angular velocity sensor, the acceleration sensor, the servo motor and the control host.

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