Unconscious patient limb rehabilitation device for intensive care unit nursing

Abstract

The invention discloses an unconscious patient limb rehabilitation device for intensive care unit nursing, and belongs to the technical field of medical equipment. The rehabilitation suite comprises a first limb sleeve, a knee protector and a second limb sleeve, and openings are formed in the back faces of the first limb sleeve, the knee protector and the second limb sleeve. The first movable assembly and the second movable assembly are arranged on the left side and the right side of the rehabilitation suite respectively, and hanging pieces are arranged on the inner sides of the first movable assembly and the second movable assembly and used for being connected with the first limb sleeve and the second limb sleeve respectively. The device solves the problems that in the prior art, the efficiency is low, the labor cost is high, in addition, most devices are lack of special design for unconscious patients, and limb function recovery of the patients cannot be effectively promoted, and the first limb sleeve, the knee protector and the second limb sleeve are matched with a pressure sensing piece and a joint movement sensing piece; the limbs are promoted to move under control, the rehabilitation efficiency is improved, and the nursing labor intensity is reduced through automatic limb movement.

Description

Technical Field

[0001] The invention relates to the technical field of medical equipment, in particular to a limb rehabilitation device for unconscious patients in intensive care unit care. Background Art

[0002] Medical equipment is divided into those used by medical staff or those used for patient rehabilitation. Since some unconscious patients usually need to stay in bed for a long time in the intensive care unit, it is easy to cause muscle atrophy, joint stiffness and other complications. At present, traditional rehabilitation methods mostly rely on nurses or professional rehabilitation to perform manual operations, which is not only a burden on medical resources but also on patients' families.

[0003] The Chinese patent with publication number CN113679956A discloses a joint medical rehabilitation device, which relates to the technical field of medical rehabilitation devices, including a support leg, a physical therapy rehabilitation device and a sports rehabilitation device. The physical therapy rehabilitation device is fixedly installed on the upper surface of the support leg, and the sports rehabilitation device is arranged between the two support legs; the physical therapy rehabilitation device is composed of a handrail and a first slide groove with a T-shaped structure opened on the upper surface of the handrail. The patent uses an infrared light bar inside the physical therapy rehabilitation device to perform dry heat treatment on the elbow joint, and it can move along the trajectory of the first slide groove opened on the handrail. It can still be powered on after moving without affecting the use. When rehabilitating arthritis of the knee joint, the leg muscles can be exercised through the sports rehabilitation device while the physical therapy rehabilitation device is working, so as to restore muscle function and delay the degeneration of cartilage, thereby effectively helping the user to recover from arthritis.

[0004] The above patent discloses the problem that the device is large in size and cannot exercise muscle function and stability, but the existing efficiency is low and the labor cost is high. In addition, most of the equipment lacks special design for unconscious patients and cannot effectively promote the patient's limb function recovery. Summary of the invention

[0005] The purpose of the present invention is to solve the above-mentioned problems of low efficiency and high labor cost in the existing equipment. In addition, most of the equipment lacks special design for unconscious patients and cannot effectively promote the recovery of patients' limb functions.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A limb rehabilitation device for unconscious patients used in intensive care unit care, comprising a rehabilitation kit and a control module;

[0008] The rehabilitation kit comprises a limb sleeve 1, a knee pad and a limb sleeve 2. The limb sleeve 1, the knee pad and the limb sleeve 2 are all provided with openings on their backs for covering the patient's limbs. The knee pad plays a role in protecting and fixing the patient's joints. The movable component 1 and the movable component 2 are respectively arranged on the left and right sides of the rehabilitation kit. The movable component 1 and the movable component 2 are both provided with pendants on their inner sides for connecting the limb sleeve 1 and the limb sleeve 2 respectively.

[0009] The control module includes a sensor module and an electric drive module;

[0010] Control module for:

[0011] An embedded microcontroller is used in the control component, which can adjust the movement mode and intensity according to the feedback of the sensor module, and is combined with the control component to form a human-computer interaction interface, so as to pre-set the range of motion and frequency of the rehabilitation kit, allowing medical staff to control the movement plan of the rehabilitation device;

[0012] Sensor modules for:

[0013] Receive the sensing data of joint movement sensors and pressure sensors for integration, and use them to monitor the patient's limb status in real time to ensure the safety and effectiveness of operation. The collected information can be recorded and stored in the data recording module, and the patient's activity data during the rehabilitation process can be recorded. Reports are generated for reference by medical staff to facilitate the adjustment of subsequent rehabilitation plans;

[0014] Electric drive modules for:

[0015] The driving electric rotating rod includes active driving components of each joint, which realize the movement of limbs, such as flexion and extension or the amplitude and frequency of swinging, according to the instructions of the control module.

[0016] Furthermore, a strip 1 is provided at the opening of the limb sleeve 1 for fixing the limb sleeve 1 on the patient's limb, an air bag 1 is provided on the inner surface of the limb sleeve 1, buckle grooves 1 corresponding to the hangers are provided on both sides of the outer side of the limb sleeve 1, pressure sensing parts are provided on the inner walls of the limb sleeve 1 and the limb sleeve 2, Velcro 3 for fixing the strip 1 is provided on the side of the limb sleeve 1 close to the opening, a plurality of fixing holes 2 are provided in the Velcro 3, and a fixing button 3 for fixing is provided in the strip 1.

[0017] Furthermore, a soft pad is provided on the inner surface of the knee brace, a groove is provided in the knee brace, a protective cover is provided in the groove for protecting the patient's joints, two joint movement sensors are provided on the inner side of the soft pad, the joint movement sensors are respectively located on both sides of the patient's joints for monitoring the joint flexibility, buckle grooves two for fixing movable components one and two are provided on both sides of the outside of the knee brace, a strip two is provided on one side of the opening of the knee brace, a Velcro one for adjusting the length of the strip two is provided on the other side of the opening of the knee brace, a fixing hole three for fixing the position of the strip two is provided in the Velcro one, and a fixed fixing button one is provided in the strip two.

[0018] Furthermore, a third strip for adjustment is provided on one side of the opening of the limb cover 2, an airbag is provided on the inner side of the limb cover 2, a Velcro 2 for adjusting the length of the third strip is provided on the other side of the opening of the limb cover 2, a fixing hole 1 for limiting is provided in the Velcro 2, a fixing button 2 for fixing is provided in the third strip, and buckle grooves 3 for fixing the movable components 1 and 2 are provided on both sides of the outside of the limb cover 2.

[0019] Furthermore, movable component 2 is composed of rotating rod 3, driving disk 2 and rotating rod 4. Driving disk 2 is located at the connection between rotating rod 3 and rotating rod 4. A convex ball 2 is provided on the outer side of driving disk 2, and a through hole 2 is opened in convex ball 2. A battery assembly is installed on the outer side of rotating rod 4. Movable component 1 is composed of driving disk 1, rotating rod 1 and rotating rod 2. Driving disk 1 is located at the connection between rotating rod 1 and rotating rod 2. A control assembly is installed on the outer side of rotating rod 2. A convex ball 1 is fixedly connected to the outer side of driving disk 1, and a through hole 1 for fixing is opened in convex ball 1. Electric rotating rods are provided on the inner sides of driving disk 1 and driving disk 2 for driving the movement of movable component 1 and movable component 2. Two sets of limiting sleeves are provided in the electric rotating rod, and each set of limiting sleeves is composed of two fixing rings for connecting and limiting rotating rod 1 and rotating rod 2, rotating rod 3 and rotating rod 4.

[0020] Furthermore, a motion simulation module is included, which is used to interact with the control module for data, including:

[0021] A neuromuscular electrical stimulation module is used to attach NMES electrodes to the patient's monitoring area;

[0022] A muscle state assessment submodule is used to collect EMG signals of the patient's muscles in real time based on EMG sensors, analyze the EMG signals, determine the activation threshold and fatigue level of the patient's muscles, and monitor the current activity level of the patient's muscles;

[0023] The parameter setting submodule is used to obtain the patient's real-time rehabilitation goals, determine the patient's muscle state according to the patient's muscle assessment results, set the current intensity, pulse frequency and duration of NMES based on the patient's muscle state and rehabilitation goals, and determine the motion trajectory, speed and resistance parameters of the active component;

[0024] The motion feedback submodule is used to obtain real-time motion feedback data of the patient's muscles, including the speed, amplitude and resistance level of the movement;

[0025] A control instruction generation submodule, used to generate a control instruction of the NMES based on the set current intensity, pulse frequency and duration of the NMES, and to generate a control instruction of the active component according to the motion trajectory, speed and resistance parameters of the active component;

[0026] The control instruction generation submodule is also used to adjust the generated NMES control instructions and active component control instructions based on the feedback data of the motion feedback submodule, and issue a stop instruction when the predetermined rehabilitation goal is achieved or the set treatment time is reached.

[0027] Also included is a blood flow restriction training module for applying compression to the patient's limbs, including:

[0028] A blood flow restriction component, including an inflatable cuff and an elastic bandage, is used to apply pressure to the proximal end of the patient's limb during training to block venous and partial arterial blood flow, wherein the inflatable cuff is embedded with an ultrasonic sensor;

[0029] An ultrasonic detection submodule is used to monitor the condition of blood vessels in real time based on ultrasonic sensors during the pressure application process, and to evaluate the degree of occlusion of the patient's blood vessels based on ultrasonic images of the condition of the blood vessels;

[0030] The training control submodule is used to formulate a BFRT treatment plan based on the vascular conditions and the degree of occlusion of the patient's blood vessels monitored in real time by the ultrasonic sensor, set training goals and progress, and conduct low-load exercise training in combination with the exercise simulation module;

[0031] The training control submodule is also used to set training parameters based on the BFRT treatment plan, including training load, training volume, intervals between groups and training frequency.

[0032] Furthermore, the electric drive module includes a drive motor, an output end of the drive motor is connected to the electric rotating rod, the drive motor is electrically connected to a voltage regulator, the voltage regulator is electrically connected to a controller, the voltage regulator and the controller are arranged outside the limb cover 2, and the controller controls the voltage regulator to adjust the actual voltage of the drive motor based on the maximum preset angle between the limb cover 1 and the limb cover 2, including the following steps:

[0033] Steps: Based on the maximum preset angle between limb sleeve 1 and limb sleeve 2, the target voltage of the drive motor is calculated by the following formula:

[0034]

[0035] Among them, U1 is the target voltage of the drive motor, J is the moment of inertia of the drive motor, R is the resistance of the drive motor, α is the angular acceleration of the drive motor, θ is the maximum preset angle between limb sleeve 1 and limb sleeve 2, π is pi, π is 3.14, m1 is the total mass of limb sleeve 1, m0 is the preset weight of the patient's limb, l1 is the length of limb sleeve 1, m2 is the total mass of limb sleeve 2, l2 is the length of limb sleeve 2, K c is the torque constant of the driving motor;

[0036] Step 2: Based on the calculation result of step 1, the controller controls the voltage regulator to adjust the actual voltage of the drive motor so that the actual voltage of the drive motor is equal to the target voltage.

[0037] Furthermore, a protective mechanism is arranged between the limb cover one and the limb cover two, and the protective mechanism includes a reinforcing column and a protective cover, and air cylinders are arranged at both ends of the reinforcing column, one end of one air cylinder is hingedly connected to the three side walls of the rotating rod, and one end of the other air cylinder is hingedly connected to the four side walls of the rotating rod, a piston block is slidably arranged in the air cylinder, and the end of the reinforcing column extends into the air cylinder and is connected to the piston block, two protective covers are arranged, one of which is arranged outside the limb cover one, and the other protective cover is arranged outside the limb cover two, the cross-section of the protective cover is arc-shaped, a cavity is arranged in the protective cover, an elastic air storage bag is arranged on the side of the cavity away from the air cylinder, and the elastic air storage bag is arranged on the side of the cavity away from the air cylinder. An air storage cavity is arranged in the elastic air storage bag, the elastic air storage bag is connected with one end of the air storage cylinder away from the reinforcing column through a connecting pipe, a plurality of mounting holes are arranged on the inner side of the protective cover, the mounting hole is connected with the cavity through a sliding hole, a pressing block is arranged in the mounting hole, a push rod is slidably arranged in the sliding hole, one end of the push rod is connected with the pressing block, the other end of the push rod extends into the cavity and a contact plate is arranged, the contact plate contacts with the elastic air storage bag, a reset spring is sleeved on the outside of the push rod, one end of the reset spring is connected with the pressing block, the other end of the reset spring is connected with the inner wall of the mounting hole, a limit plate is arranged on the outside of the push rod, the limit plate is arranged in the cavity, and the limit plate is located between the reset spring and the contact plate.

[0038] Furthermore, one side of airbag 1 and airbag 2 is connected to an air pump through a pipeline, and the air pump is arranged in the protection mechanism. Airbag 1 is composed of no less than one airbag bag, and the airbag bags are connected through air holes. An electric heating column is arranged in the airbag bag away from the side of limb cover 1, and the structure of airbag 2 is consistent with that of airbag 1.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] 1. The limb sleeve 1, knee protector and limb sleeve 2 of the present invention can fix two parts of the patient's limbs and use the flexibility of the joints to enable the limbs to move under control, thereby improving the rehabilitation efficiency, and using automated limb movements to reduce the labor intensity of nursing staff and improve the initiative and effect of patient rehabilitation;

[0041] 2. The pressure sensing element and joint movement sensing element of the present invention are used to improve the safety of the limb rehabilitation kit during use. The patient's status is monitored in real time through sensors. Medical staff can adjust the activity frequency and amplitude at any time according to the patient's limb activity data to avoid secondary injuries caused by exercise. At the same time, it helps to improve the applicability of personalized rehabilitation programs, adjust exercise parameters according to the specific conditions of each patient, and realize personalized treatment;

[0042] 3. The data recording module of the present invention can save and trace the data during the treatment process, provide detailed data records for the patient's recovery process, and facilitate doctors and family members to understand the changes in the condition;

[0043] 4. The movable components of the present invention are driven from both sides of the rehabilitation kit, which can, on the one hand, enable the driving member to effectively drive the movement of the patient's limbs, and on the other hand, improve the stability of the kit during use and ensure the safety of use;

[0044] 5. The controller of the present invention can control the voltage regulator to adjust the voltage of the driving motor so that the actual voltage of the driving motor reaches the target voltage, which can not only ensure the swing amplitude of the patient's limbs and improve the patient's rehabilitation effect, but also achieve energy-saving effects and avoid energy waste;

[0045] 6. The reinforcing column of the present invention drives the piston block to slide toward the hinge position, and the gas in the gas storage cylinder is compressed. When the gas is compressed to a preset compression degree, the angle between the rotating rod three and the rotating rod four is fixed to avoid the angle between the limb cover one and the limb cover two being too small to cause harm to the patient; the pressing block can enter the limb cover one and the limb cover two through the through hole, thereby pressing the patient's limbs, which helps to relieve muscle atrophy, enhance stimulation to the patient's limbs, and improve the rehabilitation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the appearance structure of the limb kit of the present invention;

[0047] Figure 2 It is a schematic diagram of the inner structure of the limb kit of the present invention;

[0048] Figure 3 It is a schematic diagram of the exploded structure of the limb kit of the present invention;

[0049] Figure 4 It is a schematic diagram of the structure of the active component of the present invention;

[0050] Figure 5 This is a schematic diagram of the knee protector structure of the present invention;

[0051] Figure 6 It is a schematic diagram of the structure of the limb cover of the present invention;

[0052] Figure 7 It is a schematic diagram of the structure of the intelligent module of the present invention;

[0053] Figure 8 It is a schematic diagram of the protection mechanism structure of the present invention;

[0054] Fig. 9 It is a schematic diagram of the internal structure of the gas storage cylinder of the present invention;

[0055] Fig.10 It is a schematic diagram of the internal structure of the protective cover of the present invention;

[0056] Fig.11 For the present invention Fig.10 A magnified view of the structure at center;

[0057] Fig.12 It is a schematic top view of a partial cross-section of the limb kit of the present invention.

[0058] In the figure: 1. Limb cover one; 101. Waistband one; 102. Airbag one; 1021. Airbag bag; 1022. Electric heating column; 103. Buckle slot one; 2. Knee protector; 201. Protective cover; 202. Cushion; 203. Waistband two; 204. Buckle slot two; 205. Joint motion sensor; 206. Groove; 207. Velcro one; 208. Fixing hole three; 209. Fixing button one; 3. Limb cover two; 301. Waistband three; 302. Fixing button two; 303. Buckle slot three; 304. Airbag two; 4. Movable component one; 401. Driving disk one; 402. Turning rod one; 403. Turning rod two; 404. Control component; 405. Convex ball one; 406. Perforation one; 5. Velcro 2; 501, fixing hole one; 6, movable component two; 601, rotating rod three; 602, driving disk two; 603, rotating rod four; 604, battery component; 605, perforation two; 606, convex ball two; 7, Velcro three; 701, fixing hole two; 8, fixing button three; 9, electric rotating rod; 901, limiting sleeve; 10, hanging part; 11, pressure sensing part; 12, protection mechanism; 1201, reinforcing column; 1202, protective sleeve; 1203, air cylinder; 1204, piston block; 1205, cavity; 1206, elastic air storage bag; 1207, mounting hole; 1208, pressing block; 1209, ejector rod; 1210, contact plate; 1211, reset spring; 1212, limiting plate. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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 creative work are within the scope of protection of the present invention.

[0060] In order to solve the technical problems of low efficiency and high labor cost, and the lack of special design for unconscious patients, which cannot effectively promote the recovery of patients' limb functions, please refer to Figures 1 to 7 , providing the following technical solutions:

[0061] Example 1

[0062] refer to Figure 1 and 2 As shown, a limb rehabilitation device for unconscious patients used in intensive care unit care includes a rehabilitation kit and a control module.

[0063] Among them, the rehabilitation kit includes a limb cover 1, a knee pad 2 and a limb cover 2 3. The backs of the limb cover 1, the knee pad 2 and the limb cover 2 3 are all provided with openings for covering the patient's limbs and can adapt to patients of various body shapes. The knee pad 2 can protect and fix the patient's joints; the movable component 1 4 is fixed on the outside of the rehabilitation kit, and the movable component 2 6 is fixed on the inside of the rehabilitation kit. The inner sides of the movable component 1 4 and the movable component 2 6 are both provided with hangers 10, which can be respectively buckled in the buckle groove 103, the buckle groove 204 and the buckle groove 303 on the inner sides of the movable component 1 4 and the movable component 2 6, for respectively connecting the limb cover 1 and the limb cover 2 3. The control accessories corresponding to the control module adopt a microcontroller, which is arranged in the control component 404.

[0064] Example 2

[0065] Since the patients are seriously ill and paralyzed or unconscious, they cannot move their limbs and joints independently, so the rehabilitation kits need to be fixed on the limbs of the patients.

[0066] refer to Figure 2 and 3 As shown in Figure 5, a strip 101 is provided at the opening of the limb sleeve 1 for adjusting the limb sleeve 1 and fixing it on the patient's limb. An air bag 102 is provided on the inner surface of the limb sleeve 1 to improve the comfort of the patient when using it. Buckle grooves 103 corresponding to the hanger 10 are provided on both sides of the outer side of the limb sleeve 1. Pressure sensing elements 11 are provided on the inner walls of the limb sleeve 1 and the limb sleeve 2 3 to monitor the blood pressure on the patient's current limb and also monitor the limb status during activity, which is convenient for data collection.

[0067] In addition, a third strip 301 for adjustment is provided on one side of the opening of the limb sleeve 3, an airbag 2 304 is provided on the inner side of the limb sleeve 3, a Velcro 2 5 for adjusting the length of the third strip 301 is provided on the other side of the opening of the limb sleeve 3, a fixing hole 501 for limiting is provided in the Velcro 2 5, a fixing button 2 302 for fixing is provided in the third strip 301, buckle grooves 303 for fixing the movable component 1 4 and the movable component 2 6 are provided on both sides of the outside of the limb sleeve 3, and the patient's limbs are fixed by using the limb sleeve 1 and the limb sleeve 2 3 respectively, so as to facilitate the driving kit to realize limb rehabilitation activities.

[0068] Example 3

[0069] In order to ensure that the limb cover 1 and the limb cover 2 3 can be fixed on the patient's limbs, Velcro 3 7 and Velcro 2 5 are provided;

[0070] Specifically, refer to Figure 2 and 3 A Velcro 3 7 for fixing the surrounding strip 101 is provided on one side of the limb cover 1 near the opening, a plurality of fixing holes 2 701 are provided in the Velcro 3 7, and a fixing button 3 8 for fixing is provided in the surrounding strip 101;

[0071] The movable component 4 is composed of a driving disk 401, a rotating rod 402 and a rotating rod 403. The driving disk 401 is located at the connection between the rotating rod 402 and the rotating rod 403. The control component 404 is installed on the outside of the rotating rod 403. A convex ball 405 is fixedly connected to the outside of the driving disk 401. A through hole 406 for fixing is provided in the convex ball 405. It can be used when it is necessary to raise the patient's limbs to a certain height to avoid poor blood circulation. The height adjustment device can be used to lift the kit upward through the through hole 406 in the convex ball 405.

[0072] Example 4

[0073] Since the joints need to be protected when the patient's limbs move, a knee guard 2 is set up

[0074] Specifically, refer to Figure 2 and 3 The inner surface of the knee guard 2 is provided with a cushion 202, a groove 206 is provided in the knee guard 2, a protective cover 201 is provided in the groove 206, and two joint movement sensors 205 are provided on the inner side of the cushion 202, and the joint movement sensors 205 are respectively located on both sides of the patient's joints, and are used to monitor the flexibility of the joints. Buckle grooves 204 for fixing active components 1 4 and active components 2 6 are provided on both sides of the outer side of the knee guard 2;

[0075] In actual operation, a second band 203 is provided on one side of the opening of the knee protector 2, and a Velcro 207 for adjusting the length of the second band 203 is provided on the other side of the opening of the knee protector 2, a fixing hole 3 208 for fixing the position of the second band 203 is provided in the Velcro 207, and a fixed fixing button 209 is provided in the second band 203.

[0076] Example 5

[0077] In order to ensure that the patient can move various limbs and joints under the action of the nursing device, ensure blood circulation and prevent muscle loss, etc., the movable component 2 6 and the movable component 1 4 are set;

[0078] refer to Figure 3 and 4 As shown, the movable assembly 2 6 is composed of a rotating rod 3 601, a driving disk 2 602 and a rotating rod 4 603. The driving disk 2 602 is located at the connection between the rotating rod 3 601 and the rotating rod 4 603. A convex ball 2 606 is provided on the outer side of the driving disk 2 602. Similar to the convex ball 1 405, a through hole 2 605 is provided in the convex ball 2 606. A battery assembly 604 is installed on the outer side of the rotating rod 4 603.

[0079] In addition, an electric rotating rod 9 is provided on the inner side of the driving disk 1 401 and the driving disk 2 602, which is used to drive the movement of the movable component 1 4 and the movable component 2 6, and control the angle between the rotating rod 1 402 and the rotating rod 2 403, and the rotating rod 3 601 and the rotating rod 4 603. The size of the angle depends on the range of motion of the patient's limbs and joints. This data can be set by medical staff according to the conditions of different patients, including the frequency of activity. Two groups of limiting sleeves 901 are provided in the electric rotating rod 9, and each group of limiting sleeves 901 consists of two fixed rings, which are used to connect and limit the rotating rod 1 402 and the rotating rod 2 403, the rotating rod 3 601 and the rotating rod 4 603.

[0080] Example 6

[0081] Since existing rehabilitation devices require human assistance and cannot record and understand the functional state of a patient's specific limbs during activity, a control module is set up to improve this function;

[0082] refer to Figure 7The control module includes a sensor module and an electric drive module; the control module is used to: use an embedded microcontroller in the control component 404, which can adjust the movement mode and intensity according to the feedback of the sensor module, and combine the control component 404 to perform a human-computer interaction interface, and set the activity amplitude and frequency of the rehabilitation kit in advance, allowing medical staff to control the movement plan of the rehabilitation device; the sensor module is used to: receive the sensing data of the joint movement sensor 205 and the pressure sensor 11 for integration, and use it to monitor the patient's limb status in real time to ensure the safety and effectiveness of the operation. The collected information can be recorded and stored in the data recording module, recording the patient's activity data during the rehabilitation process, and generating a report for reference by medical staff, which is convenient for the adjustment of subsequent rehabilitation plans; the electric drive module is used to: drive the electric rotating rod 9 including the activity drive components of each joint, and realize the movement of the limbs, such as flexion and extension or the amplitude and frequency of swinging, under the command of the control module.

[0083] Specifically, it also includes a motion simulation module for data interaction with the control module, specifically including:

[0084] The neuromuscular electrical stimulation module is used to attach the NMES electrode pads to the patient's monitoring area and place them at specific locations on the muscles that need to be stimulated, depending on the specific location and size of the muscles;

[0085] A muscle state assessment submodule is used to collect EMG signals of the patient's muscles in real time based on EMG sensors, analyze the EMG signals, determine the activation threshold and fatigue level of the patient's muscles, and monitor the current activity level of the patient's muscles;

[0086] The parameter setting submodule is used to obtain the patient's real-time rehabilitation goals, determine the patient's muscle state according to the patient's muscle assessment results, set the current intensity, pulse frequency and duration of NMES based on the patient's muscle state and rehabilitation goals, and determine the motion trajectory, speed and resistance parameters of the active component; wherein the EMG sensor and NMES are evenly arranged in the limb kit;

[0087] The motion feedback submodule is used to obtain real-time motion feedback data of the patient's muscles, including the speed, amplitude and resistance level of the movement, use visual and auditory feedback to guide the patient to perform the correct movement, and adjust the control strategy of the motion module according to the patient's response and movement performance;

[0088] A control instruction generation submodule is used to generate NMES control instructions based on the set current intensity, pulse frequency and duration of NMES, and to generate control instructions for the active component according to the motion trajectory, speed and resistance parameters of the active component, to ensure that the stimulation of NMES is synchronized with the movement of the motion module to achieve the coordination of muscle contraction and joint movement, and to adjust the control strategy of NMES and the motion module in real time to optimize the rehabilitation effect;

[0089] The control instruction generation submodule is also used to adjust the generated NMES control instructions and active component control instructions based on the feedback data of the motion feedback submodule to optimize the control strategy. When the predetermined rehabilitation goal is achieved or the set treatment time is reached, a stop instruction is issued to end the current and motion stimulation of the NMES and active components.

[0090] In this embodiment, the muscle state is monitored in real time through the motion simulation module, so that the personalized parameter setting can ensure the pertinence and effectiveness of the rehabilitation training, realize the precise control and adjustment of the rehabilitation training, and adjust the control strategy according to the patient's reaction and sports performance to improve the effect of the training, thereby improving the effect of the rehabilitation training and the patient's rehabilitation experience. Through the deployment of EMG sensors and NMES, it is possible to provide personalized rehabilitation plans based on the patient's muscle state and rehabilitation goals, optimize the rehabilitation effect through real-time monitoring and adjustment, and improve the safety and effectiveness of patients during the rehabilitation process.

[0091] In this embodiment, in the rehabilitation of the knee joint, the exercise program of the rehabilitation device generally includes placing the knee joint at an appropriate flexion angle, helping to improve and maintain joint function through specific posture and position adjustments, preventing muscle atrophy and joint stiffness to promote synovial fluid flow, reduce muscle tension, and promote relaxation of soft tissues, monitoring and adjusting the patient's knee joint position to ensure that the knee joint is at the optimal treatment angle, and slowly increasing the range of motion of the knee joint to achieve a stretching effect, thereby promoting the rehabilitation of the knee joint.

[0092] Specifically, it also includes a blood flow restriction training module, which is used to perform pressure training on the patient's limbs to achieve blood flow restriction training (Blood Flow Restriction Training, BFRT), specifically including:

[0093] A blood flow restriction component, including an inflatable cuff and an elastic bandage, is used to apply pressure to the proximal end of the patient's limb during training to block venous and partial arterial blood flow to improve the training effect, wherein the inflatable cuff is embedded with an ultrasonic sensor;

[0094] The ultrasonic detection submodule is used to monitor the blood vessel condition in real time based on the ultrasonic sensor during the pressure application process. It can determine the degree of blood flow occlusion to ensure that the applied pressure will not cause serious blood flow blockage. The ultrasonic image of the blood vessel condition is used to evaluate the degree of occlusion of the patient's blood vessels, thereby accurately determining the parameters of the air pressure treatment.

[0095] The training control submodule is used to formulate a BFRT treatment plan based on the vascular conditions and the degree of occlusion of the patient's blood vessels monitored in real time by the ultrasonic sensor, and to set training goals and progress, including determining air pressure parameters, circulatory load prediction, and specific training suggestions, and to conduct low-load exercise training in combination with the exercise simulation module;

[0096] The training control submodule is also used to set training parameters based on the BFRT treatment plan, including a training load of 20% to 40% 1RM, a training volume of about 75 times, an interval between groups of 30 to 60 seconds, and a training frequency of 2 to 3 times per week, so as to achieve the purpose of promoting muscle cell protein synthesis, stimulating muscle cell growth and improving muscle strength.

[0097] In this embodiment, by selecting inflatable cuffs of various sizes and applying them to different limb parts, it is ensured that they are suitable for various patients. The elastic bandage provides a certain pressure limit without an inflatable device. The use of the ultrasonic detection submodule ensures that the vascular condition can be monitored in real time during the pressure application process, avoiding excessive blood flow blockage and reducing training risks. The evaluation of the degree of vascular occlusion can accurately determine the pneumatic treatment parameters, thereby improving the effectiveness of training. Muscle cell protein synthesis can be stimulated under low load, which is particularly important for unconscious patients because they cannot perform high-load traditional strength training. A personalized BFRT treatment plan is formulated according to the vascular condition and degree of occlusion of each patient. The setting of training parameters helps to promote muscle growth and increase muscle strength without causing excessive fatigue, ensuring the targeted and adaptable treatment, and helping to improve the patient's limb function and overall rehabilitation process.

[0098] Example 7

[0099] Since the voltage of the electric drive module of the existing rehabilitation device will not automatically adjust with the change of the swing amplitude and frequency, a voltage regulator and a controller are provided;

[0100] Specifically, the electric drive module includes a drive motor, the output end of the drive motor is connected to the electric rotating rod 9, the drive motor is electrically connected to the voltage regulator, the voltage regulator is electrically connected to the controller, the voltage regulator and the controller are arranged outside the limb cover 2 3, and the controller controls the voltage regulator to adjust the actual voltage of the drive motor based on the maximum preset angle between the limb cover 1 1 and the limb cover 2 3, including the following steps:

[0101] Step 1: Based on the maximum preset angle between the limb sleeve 1 and the limb sleeve 2 3, the target voltage of the drive motor is calculated by the following formula:

[0102]

[0103] Among them, U1 is the target voltage of the drive motor, J is the moment of inertia of the drive motor, R is the resistance of the drive motor, α is the angular acceleration of the drive motor, θ is the maximum preset angle between the limb sleeve 1 and the limb sleeve 2 3, π is pi, π is 3.14, m1 is the total mass of the limb sleeve 1, m0 is the preset weight of the patient's limb, l1 is the length of the limb sleeve 1, m2 is the total mass of the limb sleeve 2 3, l2 is the length of the limb sleeve 2 3, K c is the torque constant of the driving motor;

[0104] Step 2: Based on the calculation result of step 1, the controller controls the voltage regulator to adjust the actual voltage of the drive motor so that the actual voltage of the drive motor is equal to the target voltage.

[0105] When the amplitude of flexion and extension or swinging of the limbs changes, the amplitude is set first, and the amplitude is the maximum preset angle between the limb sleeve 1 and the limb sleeve 2 3. Then, based on the above formula, the target voltage required for the drive motor can be accurately calculated, and the controller can control the voltage regulator to adjust the voltage of the drive motor so that the actual voltage of the drive motor reaches the target voltage, which can not only ensure the swing amplitude of the patient's limbs and improve the patient's rehabilitation effect, but also achieve energy-saving effects and avoid energy waste.

[0106] Example 8

[0107] Since the rotating rod 3 601 and the rotating rod 4 603 are connected only by the driving disk 2, the connection between the rotating rod 3 601 and the rotating rod 4 603 is unreliable, and it is easy to deviate during rotation, which affects the patient's rehabilitation effect. Therefore, a protection mechanism 12 is provided;

[0108] refer to Figure 8-Figure 11A protection mechanism 12 is provided between the limb cover 1 and the limb cover 2 3, and the protection mechanism 12 includes a reinforcing column 1201 and a protective cover 1202. Gas cylinders 1203 are provided at both ends of the reinforcing column 1201, one end of the gas cylinder 1203 is hingedly connected to the side wall of the rotating rod 3 601, and one end of the other gas cylinder 1203 is hingedly connected to the side wall of the rotating rod 4 603. A piston block 1204 is slidably provided in the gas cylinder 1203, and the end of the reinforcing column 1201 extends to The air storage cylinder 1203 is connected to the piston block 1204, and two protective sleeves 1202 are provided, one of which is provided outside the limb sleeve 1, and the other protective sleeve 1202 is provided outside the limb sleeve 23. The cross section of the protective sleeve 1202 is arc-shaped, and a cavity 1205 is provided in the protective sleeve 1202. An elastic air storage bag 1206 is provided on the side of the cavity 1205 away from the air storage cylinder 1203, and an air storage cavity is provided in the elastic air storage bag 1206. The air storage bag 1206 is connected to the end of the air storage cylinder 1203 away from the reinforcing column 1201 through a connecting pipe, a plurality of mounting holes 1207 are arranged on the inner side of the protective cover 1202, the mounting holes 1207 are connected to the cavity 1205 through sliding holes, a pressing block 1208 is arranged in the mounting hole 1207, a push rod 1209 is slidingly arranged in the sliding hole, one end of the push rod 1209 is connected to the pressing block 1208, and the other end of the push rod 1209 extends into the cavity 1205 and is provided with a contact Plate 1210, the contact plate 1210 is in contact with the elastic air storage bag 1206, a return spring 1211 is sleeved on the outside of the push rod 1209, one end of the return spring 1211 is connected to the pressing block 1208, and the other end of the return spring 1211 is connected to the inner wall of the mounting hole 1207, a limit plate 1212 is arranged on the outside of the push rod 1209, the limit plate 1212 is arranged in the cavity 1205, and the limit plate 1212 is located between the return spring 1211 and the contact plate 1210.

[0109] The rotating rod 3 601 and the rotating rod 4 603 are both provided with an air cylinder 1203, and the air cylinder 1203 stores air. The two air cylinders 1203 are connected by a reinforcing column 1201. When the angle between the rotating rod 3 601 and the rotating rod 4 603 changes, the reinforcing column 1201 drives the piston block 1204 to slide in the air cylinder 1203. When the angle between the rotating rod 3 601 and the rotating rod 4 603 decreases, the reinforcing column 1201 drives the piston block 1204 to slide close to the hinge position, and the air in the air cylinder 1203 is compressed. When the gas is compressed to a preset compression degree, the angle between the rotating rod 3 601 and the rotating rod 4 603 is fixed to prevent the limb sleeve 1 from being tangled with the limb. The angle between the limb sleeve 1203 is too small, which may cause harm to the patient; during the gas compression process, the gas in the gas storage cylinder 1203 enters the elastic gas storage bag 1206 through the connecting pipe, causing the elastic gas storage bag 1206 to gradually expand. The expansion of the elastic gas storage bag 1206 can drive the contact plate 1210 to move toward the mounting hole 1207, and the contact plate 1210 drives the pressing block 1208 to move outside the mounting hole 1207 through the push rod 1209, and the reset spring 1211 is stretched. Through holes compatible with the pressing block 1208 are provided on the side walls of the limb sleeve 1 and the limb sleeve 2 3, and the pressing block 1208 can enter the inside of the limb sleeve 1 and the limb sleeve 2 3 through the through holes, thereby Pressing the patient's limbs helps to relieve muscle atrophy and muscle fatigue, enhance stimulation to the patient's limbs, and improve the rehabilitation effect; and, by setting the limit plate 1212, when the limit plate 1212 contacts the inner wall of the cavity 1205, the pressing block 1208 stops moving, thereby limiting the pressing depth of the pressing block 1208, avoiding the pressing block 1208 from pressing too deeply, and improving the patient's comfort. When the elastic air storage bag 1206 expands to fill the cavity 1205, the piston block 1204 stops sliding. At this time, the angle between the rotating rod three 601 and the rotating rod four 603 reaches the preset minimum angle, thereby realizing the angle limitation between the rotating rod three 601 and the rotating rod four 603, avoiding the patient's The patient's limbs are injured due to excessive bending angle. When the angle between the rotating rod three 601 and the rotating rod four 603 gradually increases, the patient's limbs gradually stretch, the reinforcing column 1201 drives the piston block 1204 to slide in the air storage cylinder 1203, and the elastic air storage bag 1206 gradually shrinks. Under the action of the reset spring 1211, the pressing block 1208 returns to its original position and stops pressing the patient's limbs. When the piston block 1204 contacts the end of the air storage cylinder 1203, the angle between the rotating rod three 601 and the rotating rod four 603 reaches the preset maximum angle, preventing the patient's limbs from being injured due to excessive angle, further protecting the patient, and improving the protective effect of the protection mechanism 12 on the patient.

[0110] One side of the airbag 1 102 and the airbag 2 304 is connected to the air pump through a pipeline, and the air pump is arranged in the protection mechanism 12. The airbag 1 102 is composed of no less than one airbag bag 1021, and the airbag bags 1021 are connected through air holes. An electric heating column 1022 is arranged in the airbag bag 1021 away from the side of the limb sleeve 1. The airbag 2 304 has the same structure as the airbag 1 102. Air pressure massage is achieved by inflation and deflation of the airbag 1 102 and the airbag 2 304. The friction and discomfort between the airbag and the skin can be reduced based on the connectivity of the multiple airbag bags 1021. The pressure size and distribution area can be adjusted according to the specific situation of the patient to meet the treatment needs of different parts, help promote blood circulation and lymphatic return, and provide thermal therapy through the electric heating column 1022, which can relieve pain and inflammation and help relax muscles.

[0111] Working principle: When in use, first fix the limb sleeve 1, knee pad 2 and limb sleeve 2 3 of the rehabilitation kit on the limbs that the patient needs to wear, respectively. After wearing, first pass the band 101 around the opening to the Velcro 3 7 on the other side, take out the fixing button 3 8, pass it through the band 101 and fix it in the fixing hole 2 701 at the corresponding position. The operation of the knee pad 2 and limb sleeve 2 3 is the same as that of the limb sleeve 1. Pass the band 203 and the band 301 around the opening according to the dimensions of the patient's limbs and stick them on the Velcro 1 207 and Velcro 2 5, then take out the fixing button 1 209 and the fixing button 2 302, pass it through the band 203 and the band 301 and fix it to the corresponding Velcro 1 207 and Velcro 2 5 The fixing hole 3, fixing hole 208, fixing hole 209 and fixing hole 201 on the Velcro 1 207 and Velcro 2 5 After being fixed in the fixed hole 501, the medical staff can set the active component 1 4 and the active component 2 6 through the control component 404 according to the patient's actual muscle mass and joint flexibility, set the amplitude and frequency of the current patient's limb movement, and during the activity, the control module will obtain the actual information of the patient's limbs from the pressure sensing component 11 and the joint movement sensing component 205, and then the sensor module will receive each sensor for integration to monitor the patient's limb status in real time. When the collected information is recorded and stored in the data recording module, the patient's activity data during the rehabilitation process is recorded, and a report is generated for reference by the medical staff. The medical staff can adjust the subsequent rehabilitation plan according to each data change.

[0112] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0113] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A limb rehabilitation device for unconscious patients in intensive care unit care, comprising a rehabilitation kit and a control module; A rehabilitation kit comprises a limb sleeve 1 (1), a knee pad (2) and a limb sleeve 2 (3). The limb sleeve 1 (1), the knee pad (2) and the limb sleeve 2 (3) are all provided with openings on their backs for being covered with a patient's limbs, and the knee pad (2) plays a role in protecting and fixing the patient's joints; a movable component 1 (4) and a movable component 2 (6) are respectively arranged on the left and right sides of the rehabilitation kit, and a hanger (10) is provided on the inner side of the movable component 1 (4) and the movable component 2 (6) for respectively connecting the limb sleeve 1 (1) and the limb sleeve 2 (3); The control module includes a sensor module and an electric drive module; Control module for: An embedded microcontroller is used in the control component (404), which can adjust the movement mode and intensity according to the feedback of the sensor module, and is combined with the control component (404) to form a human-computer interaction interface, so as to set the activity range and frequency of the rehabilitation kit in advance, allowing medical staff to control the movement plan of the rehabilitation device; Sensor modules for: The sensing data of the joint motion sensing element (205) and the pressure sensing element (11) are received and integrated for real-time monitoring of the patient's limb status to ensure the safety and effectiveness of the operation. The collected information can be recorded and stored in a data recording module to record the patient's activity data during the rehabilitation process and generate a report for reference by medical staff to facilitate the adjustment of subsequent rehabilitation plans; Electric drive modules for: The driving electric rotating rod (9) comprises movable driving components of each joint, and realizes the movement of the limbs, such as the amplitude and frequency of flexion and extension or swing, under the instruction of the control module.

2. A limb rehabilitation device for unconscious patients in intensive care unit care according to claim 1, characterized in that: The opening of the limb cover (1) is provided with a strip (101) for fixing the limb cover (1) on the patient's limb. The inner surface of the limb cover (1) is provided with an air bag (102). The outer sides of the limb cover (1) are provided with buckle grooves (103) corresponding to the hanger (10). The inner walls of the limb cover (1) and the limb cover (3) are provided with pressure sensing components (11). The side of the limb cover (1) close to the opening is provided with a Velcro (7) for fixing the strip (101). The Velcro (7) is provided with a plurality of fixing holes (701). The strip (101) is provided with a fixing button (8) for fixing.

3. A limb rehabilitation device for unconscious patients in intensive care unit care according to claim 2, characterized in that: The inner surface of the knee guard (2) is provided with a soft pad (202), a groove (206) is provided in the knee guard (2), a protective cover (201) is provided in the groove (206) for protecting the patient's joints, two joint movement sensors (205) are provided on the inner side of the soft pad (202), the joint movement sensors (205) are respectively located on both sides of the patient's joints, and are used to monitor the joint flexibility, buckle grooves (204) are provided on both sides of the outer side of the knee guard (2) for fixing active component one (4) and active component two (6), a second strip (203) is provided on one side of the opening of the knee guard (2), a Velcro (207) is provided on the other side of the opening of the knee guard (2) for adjusting the length of the second strip (203), a fixing hole (208) is provided in the Velcro (207) for fixing the position of the second strip (203), and a fixed fixing button (209) is provided in the second strip (203).

4. A limb rehabilitation device for unconscious patients in intensive care unit care according to claim 3, characterized in that: The opening of the limb cover (3) is provided with a third strip (301) for adjustment on one side, the inner side of the limb cover (3) is provided with a second air bag (304), the other side of the opening of the limb cover (3) is provided with a second Velcro (5) for adjusting the length of the third strip (301), the Velcro (5) is provided with a fixing hole (501) for limiting, the third strip (301) is provided with a second fixing button (302) for fixing, and both sides of the outer side of the limb cover (3) are provided with a fixing hole (501) for fixing the movable group. The movable component 2 (6) is composed of a rotating rod 3 (601), a driving disk 2 (602) and a rotating rod 4 (603). The driving disk 2 (602) is located at the connection between the rotating rod 3 (601) and the rotating rod 4 (603). A convex ball 2 (606) is arranged on the outer side of the driving disk 2 (602). A through hole 2 (605) is opened in the convex ball 2 (606). A battery component (604) is installed on the outer side of the rotating rod 4 (603).

5. A limb rehabilitation device for unconscious patients in intensive care unit care according to claim 4, characterized in that: The movable component 1 (4) is composed of a driving disk 1 (401), a rotating rod 1 (402) and a rotating rod 2 (403). The driving disk 1 (401) is located at the connection between the rotating rod 1 (402) and the rotating rod 2 (403). A control component (404) is installed on the outer side of the rotating rod 2 (403). A convex ball 1 (405) is fixedly connected to the outer side of the driving disk 1 (401). A through hole 1 (406) for fixing is opened in the convex ball 1 (405). ), the inner sides of the driving disk 1 (401) and the driving disk 2 (602) are both provided with electric rotating rods (9) for driving the activities of the movable component 1 (4) and the movable component 2 (6), and the electric rotating rods (9) are both provided with two sets of limiting sleeves (901), each set of limiting sleeves (901) is composed of two fixed rings, and is used to connect and limit the rotating rod 1 (402) and the rotating rod 2 (403), the rotating rod 3 (601) and the rotating rod 4 (603).

6. A limb rehabilitation device for unconscious patients in intensive care unit care according to claim 5, characterized in that: It also includes a motion simulation module for data interaction with the control module, including: A neuromuscular electrical stimulation module is used to attach NMES electrodes to the patient's monitoring area; The muscle state assessment submodule is used to collect the EMG signals of the patient's muscles in real time based on the EMG sensors on the electrode sheet, analyze the EMG signals, determine the activation threshold and fatigue level of the patient's muscles, and monitor the current activity level of the patient's muscles; The parameter setting submodule is used to obtain the patient's real-time rehabilitation goals, determine the patient's muscle state according to the patient's muscle assessment results, set the current intensity, pulse frequency and duration of NMES based on the patient's muscle state and rehabilitation goals, and determine the motion trajectory, speed and resistance parameters of the active component; The motion feedback submodule is used to obtain real-time motion feedback data of the patient's muscles, including the speed, amplitude and resistance level of the movement; A control instruction generation submodule, used to generate a control instruction of the NMES based on the set current intensity, pulse frequency and duration of the NMES, and to generate a control instruction of the active component according to the motion trajectory, speed and resistance parameters of the active component; The control instruction generation submodule is also used to adjust the generated NMES control instructions and active component control instructions based on the feedback data of the motion feedback submodule, and issue a stop instruction when the predetermined rehabilitation goal is achieved or the set treatment time is reached.

7. A limb rehabilitation device for unconscious patients in intensive care unit care according to claim 6, characterized in that: Also included is a blood flow restriction training module for applying compression to the patient's limbs, including: A blood flow restriction component, including an inflatable cuff and an elastic bandage, is used to apply pressure to the proximal end of the patient's limb during training to block venous and partial arterial blood flow, wherein the inflatable cuff is embedded with an ultrasonic sensor; An ultrasonic detection submodule is used to monitor the condition of blood vessels in real time based on ultrasonic sensors during the pressure application process, and to evaluate the degree of occlusion of the patient's blood vessels based on ultrasonic images of the condition of the blood vessels; The training control submodule is used to formulate a BFRT treatment plan based on the vascular conditions and the degree of occlusion of the patient's blood vessels monitored in real time by the ultrasonic sensor, set training goals and progress, and conduct low-load exercise training in combination with the exercise simulation module; The training control submodule is also used to set training parameters based on the BFRT treatment plan, including training load, training volume, intervals between groups and training frequency.

8. A limb rehabilitation device for unconscious patients in intensive care unit care according to claim 7, characterized in that: The electric drive module comprises a drive motor, the output end of the drive motor is connected to the electric rotating rod (9), the drive motor is electrically connected to a voltage regulator, the voltage regulator is electrically connected to a controller, the voltage regulator and the controller are arranged outside the limb cover (3), and the controller controls the voltage regulator to adjust the actual voltage of the drive motor based on the maximum preset angle between the limb cover (1) and the limb cover (3), comprising the following steps: Step 1: Based on the maximum preset angle between limb sleeve 1 (1) and limb sleeve 2 (3), the target voltage of the drive motor is calculated by the following formula: Wherein, U1 is the target voltage of the drive motor, J is the moment of inertia of the drive motor, R is the resistance of the drive motor, α is the angular acceleration of the drive motor, θ is the maximum preset angle between the limb sleeve 1 (1) and the limb sleeve 2 (3), π is pi, π is 3.14, m1 is the total mass of the limb sleeve 1 (1), m0 is the preset weight of the patient's limb, l1 is the length of the limb sleeve 1 (1), m2 is the total mass of the limb sleeve 2 (3), l2 is the length of the limb sleeve 2 (3), K c is the torque constant of the driving motor; Step 2: Based on the calculation result of step 1, the controller controls the voltage regulator to adjust the actual voltage of the drive motor so that the actual voltage of the drive motor is equal to the target voltage.

9. A limb rehabilitation device for unconscious patients in intensive care unit care according to claim 8, characterized in that: A protective mechanism (12) is arranged between the limb cover 1 (1) and the limb cover 2 (3), and the protective mechanism (12) comprises a reinforcing column (1201) and a protective cover (1202). Gas cylinders (1203) are arranged at both ends of the reinforcing column (1201), one end of one of the gas cylinders (1203) is hingedly connected to the side wall of the rotating rod 3 (601), and one end of the other gas cylinder (1203) is hingedly connected to the side wall of the rotating rod 4 (603). A piston block (1204) is slidably arranged in the gas cylinder (1203), and the end of the reinforcing column (1201) extends to The protective sleeve (1202) is provided with two protective sleeves, one of which is provided outside the limb sleeve one (1), and the other protective sleeve (1202) is provided outside the limb sleeve two (3). The cross section of the protective sleeve (1202) is arc-shaped. A cavity (1205) is provided inside the protective sleeve (1202). An elastic air storage bag (1206) is provided on the side of the cavity (1205) away from the air storage sleeve (1203). An air storage cavity is provided inside the elastic air storage bag (1206). The air bag (1206) is connected to one end of the air storage cylinder (1203) away from the reinforcing column (1201) through a connecting pipe, a plurality of mounting holes (1207) are arranged on the inner side of the protective cover (1202), the mounting holes (1207) are connected to the cavity (1205) through sliding holes, a pressing block (1208) is arranged in the mounting hole (1207), a push rod (1209) is slidingly arranged in the sliding hole, one end of the push rod (1209) is connected to the pressing block (1208), and the other end of the push rod (1209) extends into the cavity (1205) and is provided with a contact plate (1209). 210), the contact plate (1210) contacts the elastic air storage bag (1206), a return spring (1211) is sleeved on the outside of the push rod (1209), one end of the return spring (1211) is connected to the pressing block (1208), and the other end of the return spring (1211) is connected to the inner wall of the mounting hole (1207), and a limit plate (1212) is arranged on the outside of the push rod (1209), and the limit plate (1212) is arranged in the cavity (1205), and the limit plate (1212) is located between the return spring (1211) and the contact plate (1210).

10. A limb rehabilitation device for unconscious patients in intensive care unit care according to claim 9, characterized in that: One side of the airbag 1 (102) and the airbag 2 (304) is connected to an air pump through a pipeline. The air pump is arranged in the protection mechanism (12). The airbag 1 (102) is composed of at least one airbag bag (1021). The airbag bags (1021) are connected to each other through air holes. An electric heating column (1022) is arranged in the airbag bag (1021) away from the side of the limb cover 1 (1). The airbag 2 (304) has the same structure as the airbag 1 (102).

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