Post-ankle-joint-trauma rehabilitation training device

Abstract

An ankle joint post-trauma rehabilitation training device comprises a structure part and a control part. The structure part comprises a foot fixing box; the foot fixing box comprises an L-shaped bottom shell and an L-shaped cover shell; the L-shaped cover shell is detachably connected to the L-shaped bottom shell to define a cavity for containing the ankle joint part. A plurality of air bags are arranged in the cavity, correspond to the sole, the instep, the left side and the right side of the foot respectively, and are called a sole air bag, an instep air bag, a left side air bag and a right side air bag respectively; the two air bags correspond to the ankle periphery and the shank periphery of the foot and are respectively named as an ankle outer air bag and a leg outer air bag; the control part comprises an electric air pump and an electric control air valve; each air bag is connected with an electric control air valve through an inflation branch pipeline; the switch of the electric air pump and the state conversion of each electric control air valve are respectively controlled by corresponding control signals output by the controller; each branch pipe is connected with an air pressure sensor; when the training system is in a working state, the controller controls each air bag to swell and contract according to a pre-stored rehabilitation program.

Description

Technical Field

[0001] The invention belongs to the technical field of rehabilitation medicine, and in particular is a rehabilitation training device for ankle joint injuries. Background Art

[0002] The ankle joint is one of the main load-bearing joints of the human lower limbs and is the initiator and buffer of human movement and jumping. The incidence of ankle joint injuries is high, and injuries often lead to functional impairment of the lower limbs, requiring the use of wheelchairs and other devices for movement, as well as rehabilitation training. Therefore, there is an urgent need for a post-traumatic ankle joint rehabilitation training device to assist patients in their rehabilitation. Summary of the invention

[0003] In order to solve the above technical problems, the present invention proposes a post-traumatic ankle rehabilitation training device. The system can use a self-settable rehabilitation mode, and medical staff can provide training designs at different rehabilitation stages.

[0004] A post-traumatic ankle rehabilitation training device comprises a structural part and a control part. The structural part comprises a foot fixing box;

[0005] The foot fixing box comprises an L-shaped bottom shell and an L-shaped cover shell; the L-shaped cover shell is detachably connected to the L-shaped bottom shell to form a cavity for accommodating the ankle joint part, the shape of the cavity corresponds to the shape of the ankle joint and the lower leg part and foot part connected thereto, and is larger than this part of the human body;

[0006] A plurality of airbags are installed in the cavity, and one side of the airbags is fixedly connected to the inner wall of the cavity; the airbags include two types, namely, a first airbag and a second airbag;

[0007] The first airbags are distributed at positions corresponding to the sole, instep, left side and right side of the foot, respectively, and are called the sole airbag, instep airbag, left side airbag and right side airbag;

[0008] The second airbag position corresponds to the periphery of the ankle and the periphery of the calf, which are called the outer ankle airbag and the outer leg airbag respectively;

[0009] The control part includes an electric air pump and an electric-controlled air valve; each airbag is connected to an electric-controlled air valve through an inflation branch pipe; the electric air pump is connected to the air inlet of each electric-controlled air valve through an inflation main pipe; the electric-controlled air valve has three states, namely, the inflation main pipe is connected to the inflation branch pipe, the inflation branch pipe is connected to the external atmosphere, and the inflation main pipe, the inflation branch pipe and the external atmosphere are not connected;

[0010] The switch of the electric air pump and the state conversion of each electric-controlled air valve are controlled by the corresponding control signals output by the controller; each branch pipe is connected with an air pressure sensor; the controller collects the air pressure data of the air pressure sensor;

[0011] When the training system is working:

[0012] The foot fixing box is first fixed to the lower leg of the human body, and the foot is placed in the cavity;

[0013] Under the control of the controller, the ankle airbag and the leg airbag are inflated and expanded to cover the ankle joint and calf of the human body;

[0014] Then, the controller controls the expansion and contraction of each first airbag according to the pre-stored rehabilitation program to perform training: when the airbag on the sole of the foot expands and the airbag on the dorsum of the foot contracts, the foot is hooked up, otherwise, the foot is flattened; when the airbag on the left side expands and the airbag on the right side contracts, the foot rotates to the right, otherwise, the foot rotates to the left;

[0015] The rehabilitation parameters in the rehabilitation program include: the order of inflation and deflation of each first airbag, and the duration t1 after each first airbag is inflated and reaches a preset air pressure;

[0016] The rehabilitation program is transmitted from the PC to the controller through the communication structure; the controller transmits to the PC the inflation time t2 during which the air pressure of each first airbag is greater than 1 atmosphere until the preset air pressure is reached; when the air pressure of the first airbag is greater than 1 atmosphere during the inflation process, it means that the inflation of the first airbag is substantially affected by the foot, that is, the foot begins to be stressed; the foot begins to move under stress and reaches a physiological restriction level, then the air pressure fed back to the first airbag reaches a preset value, at which time the airbag stops inflating; the inflation time t2 is related to the size of the foot in the cavity and the degree of ankle activity;

[0017] The PC collects the inflation time t2 and the patient's foot size as input, and outputs the rehabilitation parameters in the next stage of the rehabilitation program through the rehabilitation model; the rehabilitation model is a neural network model.

[0018] In the training data of the rehabilitation model, the input is the inflation time t2 and the patient's foot size; the output is the patient's rehabilitation stage, which is manually marked; each stage of the patient's rehabilitation corresponds to a set of rehabilitation parameters; a set of rehabilitation parameter groups includes: preset air pressure, duration t1, and the inflation and contraction order of each first airbag; the rehabilitation parameters are manually defined.

[0019] Furthermore, the plantar airbags include two left and right airbags, namely the left plantar airbag and the right plantar airbag.

[0020] The foot movements corresponding to the inflation of each first airbag are as follows (taking the right foot as an example):

[0021] When the airbag on the sole of the foot expands and the airbag on the dorsal part of the foot contracts, the foot is lifted up, which is called dorsiflexion. On the contrary, the foot is flattened, which is called plantar flexion.

[0022] When the left air bag expands and the right air bag contracts, the foot rotates to the right, which is called abduction movement; conversely, the foot rotates to the left, which is called adduction movement;

[0023] When the left airbag on the sole of the foot expands and the right airbag on the sole of the foot contracts, the foot as a whole flips to the right, which is the ankle eversion movement; conversely, the foot as a whole flips to the left, which is the ankle inversion movement.

[0024] The training movement-related data of this system conforms to the human kinematics standard, and it is safe to use, simple in structure, easy to operate, and has relatively comprehensive functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic diagram of the structure of the training device (axial cross section of the foot);

[0026] Figure 2 is a schematic diagram of the structure of the training device (radial cross section of the foot);

[0027] Figure 3 is the electrical control schematic diagram of the training device;

[0028] In the figure: L-shaped bottom shell 1, L-shaped cover shell 2, left plantar airbag 3, right plantar airbag 4, dorsal airbag 5, left airbag 6, right airbag 7, ankle airbag 8, leg airbag 9, buckle 10, buckle ring 11, limit groove 12, elastic pressure strip 13, limit pressure plate 14, electric air pump 15, electric control air valve 16, inflation branch pipe 17, inflation main pipe 18, air pressure sensor 19, battery 20, controller 21. DETAILED DESCRIPTION

[0029] The present invention is described below in conjunction with the accompanying drawings and specific embodiments.

[0030] In view of the current situation that ankle joint rehabilitation training equipment has poor adaptability and rehabilitation effect, an intelligent rehabilitation training device for ankle joint rehabilitation training is designed. The device is a comprehensive application of multiple disciplines such as mechanics, electricity, biology and artificial intelligence.

[0031] refer to Figure 1 to Figure 3 , a post-traumatic ankle rehabilitation training device, comprising a structural part and a control part, wherein the structural part comprises a foot fixing box;

[0032] The foot fixing box comprises an L-shaped bottom shell 1 and an L-shaped cover shell 2; the L-shaped cover shell is detachably connected to the L-shaped bottom shell to form a cavity for accommodating the ankle joint part, the shape of the cavity corresponds to the shape of the ankle joint and the lower leg part and foot part connected thereto, and is larger than this part of the human body;

[0033] A plurality of airbags are installed in the cavity, and one side of the airbags is fixedly connected to the inner wall of the cavity; the airbags include two types, namely, a first airbag and a second airbag;

[0034] The first airbag distribution positions correspond to the sole, instep, left side and right side of the foot, respectively, and are called the sole airbag, instep airbag 5, left side airbag 6 and right side airbag 7; there are two sole airbags, namely the left sole airbag 3 and the right sole airbag 4.

[0035] The second airbag position corresponds to the periphery of the ankle and the periphery of the calf, which are respectively called the outer ankle airbag 8 and the outer leg airbag 9;

[0036] The control part includes an electric air pump 15 and an electric control air valve 16; each airbag is connected to an electric control air valve through an inflation branch pipe 17; the electric air pump is connected to the air inlet of each electric control air valve through an inflation main pipe 18; the electric control air valve 16 has three states, namely, the inflation main pipe is connected to the inflation branch pipe, the inflation branch pipe is connected to the external atmosphere, and the inflation main pipe, the inflation branch pipe and the external atmosphere are not connected;

[0037] The switch of the electric air pump and the state conversion of each electric-controlled air valve are controlled by the corresponding control signals output by the controller 21; each branch pipe is connected to an air pressure sensor 19; the controller collects air pressure data from the air pressure sensor;

[0038] When the training system is working:

[0039] The foot fixing box is first fixed to the position of the human body's lower leg, and the foot is placed in the cavity;

[0040] Under the control of the controller, the airbags outside the ankle and the airbags outside the leg are inflated to cover the ankle joint and the calf of the human body;

[0041] Then, the controller controls the expansion and contraction of each first airbag according to the pre-stored rehabilitation program to perform training: when the airbag on the sole of the foot expands and the airbag on the dorsum of the foot contracts, the foot is hooked up, otherwise, the foot is flattened; when the airbag on the left side expands and the airbag on the right side contracts, the foot rotates to the right, otherwise, the foot rotates to the left;

[0042] The rehabilitation parameters in the rehabilitation program include: the order of inflation and deflation of each first airbag, and the duration t1 after each first airbag is inflated and reaches a preset air pressure;

[0043] The rehabilitation program is transmitted from the PC to the controller through the communication structure; the controller transmits to the PC the inflation time t2 during which the air pressure of each first airbag is greater than 1 atmosphere until the preset air pressure is reached; when the air pressure of the first airbag is greater than 1 atmosphere during the inflation process, it means that the inflation of the first airbag is substantially affected by the foot, that is, the foot begins to be stressed; the foot begins to move under stress and reaches a physiological restriction level, then the air pressure fed back to the first airbag reaches a preset value, at which time the airbag stops inflating; the inflation time t2 is related to the size of the foot in the cavity and the degree of ankle activity;

[0044] The PC collects the inflation time t2 and the patient's foot size as input, and outputs the rehabilitation parameters in the next stage of the rehabilitation program through the rehabilitation model; the rehabilitation model is a neural network model.

[0045] In the training data of the rehabilitation model, the input is the inflation time t2 and the patient's foot size; the output is the patient's rehabilitation stage, which is manually labeled;

[0046] Each stage of the patient's rehabilitation corresponds to a set of rehabilitation parameters; a set of rehabilitation parameters includes: preset air pressure, duration t1, and the inflation and deflation sequence of each first airbag; the rehabilitation parameters are manually defined.

[0047] Since the input and output data involved are relatively simple, the computational complexity of the neural network model is very small, and most existing models can meet application requirements.

[0048] In the engineering implementation, the foot fixing box is made of hard plastic; the electric air pump 15 and the battery 20 (including the controller and the circuit board where it is located) are installed on the outer surface of the L-shaped cover 2, and the position corresponds to the dorsum of the foot;

[0049] The position of the rotating hinge where the L-shaped cover plate 2 is rotatably connected to the L-shaped bottom shell 1 corresponds to the toe; the main body of the cavity is inside the L-shaped bottom shell, and the L-shaped cover plate is sealed at the open end of the L-shaped bottom shell; there is a buckle 10 at the corresponding position of the connecting edge between the L-shaped cover plate and the L-shaped bottom shell.

[0050] The foot fixing box is provided with a mechanism for connecting to a bed and a mechanism for connecting to a wheelchair, wherein:

[0051] The mechanism for connecting the bed is as follows: buckles 11 are respectively connected to the left and right sides of the bottom shell of the foot fixing box, and straps are connected to the buckles. The ends of the straps have hooks for hooking the two sides of the bed.

[0052] The mechanism for connecting the wheelchair is as follows: the bottom surface of the foot fixing box is provided with a wheelchair foot pedal limiting groove 12, and elastic pressure strips 13 are connected to the front and rear sides of the limiting groove 12 (for pressing foot pedals of different widths); the bottom surface of the foot fixing box is provided with a limiting pressure plate 14, and the two ends of the limiting pressure plate are respectively detachably connected to the front and rear ends of the limiting groove 12.

[0053] When used clinically, the rehabilitation parameters are controlled so that the ankle joint inversion and eversion movement angle range is 0°~30°, the dorsiflexion and flexion movement angle range is 0°~20°, and the abduction and adduction movement angle range is 0°~20°. This can speed up the recovery process and improve joint mobility, and is an effective rehabilitation method.

Claims

1. A post-traumatic ankle rehabilitation training device, comprising a structural part and a control part, characterized in that: The structural part includes a foot fixing box; The foot fixing box comprises an L-shaped bottom shell and an L-shaped cover shell; the L-shaped cover shell is detachably connected to the L-shaped bottom shell to form a cavity for accommodating the ankle joint part, the shape of the cavity corresponds to the shape of the ankle joint and the lower leg part and foot part connected thereto, and is larger than this part of the human body; A plurality of airbags are installed in the cavity, and one side of the airbags is fixedly connected to the inner wall of the cavity; the airbags include two types, namely, a first airbag and a second airbag; The first airbags are distributed at positions corresponding to the sole, instep, left side and right side of the foot, respectively, and are called the sole airbag, instep airbag, left side airbag and right side airbag, respectively; The second airbag position corresponds to the periphery of the ankle and the periphery of the calf, which are called the outer ankle airbag and the outer leg airbag respectively; The control part includes an electric air pump and an electric-controlled air valve; each airbag is connected to an electric-controlled air valve through an inflation branch pipe; the electric air pump is connected to the air inlet of each electric-controlled air valve through an inflation main pipe; the electric-controlled air valve has three states, namely, the inflation main pipe is connected to the inflation branch pipe, the inflation branch pipe is connected to the external atmosphere, and the inflation main pipe, the inflation branch pipe and the external atmosphere are not connected; The switch of the electric air pump and the switch state conversion of each electric-controlled air valve are controlled by the corresponding control signals output by the controller; each branch pipe is connected to an air pressure sensor; the controller collects air pressure data from the air pressure sensor; When the training device is in working state: The foot fixing box is first fixed to the lower leg of the human body, and the foot is placed in the cavity; Under the control of the controller, the ankle airbag and the leg airbag are inflated and expanded to cover the ankle joint and calf of the human body; Then, the controller controls the expansion and contraction of each first airbag according to the pre-stored rehabilitation program to perform training: when the airbag on the sole of the foot expands and the airbag on the dorsum of the foot contracts, the foot is hooked up, otherwise, the foot is flattened; when the airbag on the left side expands and the airbag on the right side contracts, the foot rotates to the right, otherwise, the foot rotates to the left; The rehabilitation parameters in the rehabilitation program include: the order of inflation and deflation of each first airbag, and the duration t1 after each first airbag is inflated and reaches a preset air pressure; The rehabilitation program is transmitted from the PC to the controller through the communication structure; the controller transmits to the PC the inflation time t2 during which the air pressure of each first airbag is greater than 1 atmosphere until the preset air pressure is reached; when the air pressure of the first airbag is greater than 1 atmosphere during the inflation process, it means that the inflation of the first airbag is substantially affected by the foot, that is, the foot begins to be stressed; the foot begins to move under stress and reaches a physiological restriction level, then the air pressure fed back to the first airbag reaches a preset value, at which time the airbag stops inflating; the inflation time t2 is related to the size of the foot in the cavity and the degree of ankle activity; The PC collects the inflation time t2 and the patient's foot size as input, and outputs the rehabilitation parameters in the next stage of the rehabilitation program through the rehabilitation model; the rehabilitation model is a neural network model.

2. The ankle joint post-traumatic rehabilitation training device according to claim 1, characterized in that: In the training data of the rehabilitation model, the input is the inflation time t2 and the size of the patient's foot; The output is the patient’s recovery stage, which is manually labeled; Each stage of the patient's rehabilitation corresponds to a set of rehabilitation parameters; a set of rehabilitation parameters includes: preset air pressure, duration t1, and the order of inflation and deflation of each first airbag; Rehabilitation parameters were manually defined.

3. The ankle joint post-traumatic rehabilitation training device according to claim 1, characterized in that: The foot fixing box is made of hard plastic; the electric air pump and the battery are installed on the outer surface of the L-shaped cover, and the position corresponds to the dorsum of the foot; The position of the rotating hinge of the L-shaped cover plate and the L-shaped bottom shell corresponds to the toe; the main body of the cavity is inside the L-shaped bottom shell, and the L-shaped cover plate is sealed at the open end of the L-shaped bottom shell; there are buckles at the corresponding positions of the connecting edges of the L-shaped cover plate and the L-shaped bottom shell.

4. The ankle joint post-traumatic rehabilitation training device according to claim 1, characterized in that: The foot fixing box is provided with a mechanism for connecting with a hospital bed and a mechanism for connecting with a wheelchair outside.

5. The ankle joint post-traumatic rehabilitation training device according to claim 4, characterized in that: The mechanism for connecting the hospital bed is as follows: buckles are respectively connected to the left and right sides of the bottom shell of the foot fixing box, and straps are connected to the buckles. The ends of the straps are provided with hooks for hooking the two sides of the hospital bed.

6. The ankle joint post-traumatic rehabilitation training device according to claim 4, characterized in that: The mechanism for connecting the wheelchair is as follows: the bottom surface of the foot fixing box is provided with a wheelchair foot pedal limiting groove, and elastic pressure strips are connected to the front and rear sides of the limiting groove; the bottom surface of the foot fixing box is provided with a limiting pressure plate, and the two ends of the limiting pressure plate are respectively detachably connected to the front and rear ends of the limiting groove.

7. The ankle joint post-traumatic rehabilitation training device according to claim 1, characterized in that: The plantar airbags are provided with two on the left and right sides, namely the left plantar airbag and the right plantar airbag.

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