Rehabilitation training robot

Abstract

The invention discloses a rehabilitation training robot. The rehabilitation training robot comprises a supporting body movably arranged in the vertical direction; the bearing piece is arranged on the supporting main body and is used for bearing the lower jaw; the sensor assembly is arranged on the bearing piece so as to detect the stress of the bearing piece and detect the myoelectricity value of the swallowing muscle at the same time; the mechanical arm is provided with a fixed end, a driving arm and a movable end, one end of the driving arm is connected with the fixed end, and the other end is connected with the movable end; the fixed end is arranged on the supporting main body; the driving arm moves so that the movable end can move relative to the supporting body; the wheel disc is rotatably arranged at the movable end, and the wheel disc is provided with a plurality of adaptive parts distributed in the circumferential direction of the wheel disc; the rehabilitation assembly is detachably arranged on the adapting part, and when the wheel disc rotates, the rehabilitation assembly can be switched to be matched with the bearing piece to complete rehabilitation training. According to the rehabilitation training robot, a personalized training scheme can be provided, meanwhile, combined use of multiple therapies can be achieved, the multiple therapies can be conducted at the same time, and full-automatic intelligent training of the rehabilitation training robot is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of dysphagia training equipment, and in particular to a rehabilitation training robot. Background Art

[0002] Dysphagia is a clinical symptom caused by various reasons that food cannot pass smoothly from the mouth to the stomach. Dysphagia can not only affect the patient's normal food intake and cause systemic malnutrition, but also cause choking and aspiration, leading to accidents such as lung infection, and even threatening the patient's life safety.

[0003] In the prior art, dysphagia is treated with a single therapy, which is not effective in treating dysphagia. In addition, most of the current therapies require manual operation, cannot achieve fully automatic intelligent training, and have no real-time biofeedback, making it difficult to ensure the consistency and effectiveness of the treatment, and difficult to provide personalized treatment for patients.

[0004] Therefore, it is necessary to provide a new rehabilitation training robot to solve the above problems existing in the prior art. Summary of the invention

[0005] The purpose of the present invention is to provide a rehabilitation training robot for users' swallowing disorder training, which can provide personalized training plans and realize the combined use of multiple therapies. Multiple therapies can be performed simultaneously, so that the rehabilitation training robot can achieve fully automatic intelligent training.

[0006] To achieve the above object, the technical solution of the present invention is as follows: A rehabilitation training robot comprises: a supporting body movably arranged in a vertical direction; A supporting member, provided on the supporting body, for supporting the mandible; A sensor assembly is disposed in the support member to detect the magnitude of the force applied to the support member in different use states and to detect the myoelectric value of the swallowing muscle; A mechanical arm having a fixed end, a driving arm and a movable end, wherein one end of the driving arm is connected to the fixed end and the other end is connected to the movable end; the fixed end is arranged on the supporting body; the driving arm moves so that the movable end can move relative to the supporting body; A wheel disc is rotatably disposed at the movable end, and the wheel disc has a plurality of adapters distributed along the circumference of the wheel disc; The rehabilitation component is detachably arranged on the adapting part, and when the wheel rotates, the rehabilitation component can be switched to cooperate with the supporting part to complete the rehabilitation training.

[0007] By adopting the above technical solution, the support body can move in the vertical direction, and can adjust the appropriate position according to the user's state to adapt to different use environments. The sensor component can detect the myoelectric value of the swallowing muscle while detecting the force on the support part, and can complete the Shaker training method or the mandibular retraction resistance training. At the same time, due to the provision of multiple rehabilitation components, different rehabilitation components are selected to cooperate with the support part and the sensor component, and multiple trainings can be carried out at the same time. For example, while carrying out the Shaker training method or the mandibular retraction resistance training, the tongue muscle active and passive rehabilitation training, the tongue pressure resistance feedback training or the air pulse sensory stimulation training can also be carried out to realize multiple rehabilitation trainings at the same time. Since a wheel is provided, the wheel can be rotatably provided at the active end. During the training process, a personalized training plan can be customized according to the actual situation, and different rehabilitation components can be switched in turn for training, which improves the convenience of rehabilitation training. At the same time, the participation of a rehabilitation therapist is not required in this process, and home rehabilitation training can be realized, which effectively improves the enthusiasm of users to participate in training. In addition, due to the provision of the sensor component, the user can receive real-time biofeedback during the training process to ensure the consistency and effectiveness of the treatment.

[0008] Optionally, one of the rehabilitation components comprises: A tongue suction module, one end of which is arranged on the adapter portion, and the other end of which is provided with a receiving cavity for receiving the tongue of the user; A vacuum component, disposed on the supporting body and connected to the accommodating cavity, for evacuating the accommodating cavity to fix the user's tongue in the accommodating cavity; The movement of the mechanical arm drives the tongue suction module to move, so as to pull the user's tongue to perform rehabilitation exercises.

[0009] Optionally, one of the rehabilitation components comprises: A tongue pressure resistance module has one end arranged on the adapter part and the other end provided with a detection piece; a first sensor is arranged at the top of the detection piece to detect the position of the detection piece in the oral cavity; a plurality of second sensors are arranged at the bottom of the detection piece to detect the pressure and duration of the pressure applied by the tongue to the detection piece at different positions when the user's tongue contacts the second sensors.

[0010] Optionally, one of the rehabilitation components comprises: A gas pulse module, one end of which is arranged on the adapter part and the other end is used for ejecting gas; A gas supply device, provided on the supporting body and connected to the gas pulse module to provide gas; The gas pulse module moves under the drive of the mechanical arm, the gas provided by the gas supply device flows through the gas pulse module and sprays toward a predetermined position to form stimulation, and the sensor component detects the myoelectric value.

[0011] Optionally, a support pad is provided on the top of the support member to support the mandible; The sensor assembly comprises: A middle sensor, one end of which is disposed in the middle of the support pad and the other end of which contacts the supporting member; an edge sensor, one end of which is disposed at the edge of the support pad and the other end of which is in contact with the supporting member; a tilt sensor, one end of which is disposed on the support pad and the other end of which is in contact with the supporting member; Among them, the middle sensor, the edge sensor and the tilt sensor cooperate to detect whether the supporting height is adjusted in place before training and whether the user's head is fixed and stable; the middle sensor and the tilt sensor cooperate to assist rehabilitation training.

[0012] Optionally, the sensor assembly further includes: The detection sensor is arranged on the supporting member and is used for contacting the swallowing muscle to detect the myoelectric value.

[0013] Optionally, the movable end is further provided with a force feedback sensor for detecting the force applied to the mechanical arm; Wherein, in the process of the mechanical arm moving to the predetermined position, when the force feedback sensor detects the force signal and feeds back, the mechanical arm receives the feedback signal and returns to the initial position.

[0014] Optionally, two positioning members are rotatably provided on the supporting member, and a driving member is provided on the supporting member to drive the positioning members to rotate so as to adjust the angle between the two positioning members.

[0015] Optionally, also include: The irradiation module has a transmitter and can be arranged on the positioning member. The transmitter is used to emit light to a designated position to stimulate nerves.

[0016] Optionally, the rehabilitation component is one of an electronic lollipop, an oral improvement massage stick or a respiratory muscle exerciser.

[0017] Optionally, a display screen is further included, which is arranged on the supporting body and is electrically connected to the sensor component and the rehabilitation component to display data.

[0018] Optionally, it also includes a high- and low-oxygen therapy module and a head-mounted photobiomodulation module, and both the high- and low-oxygen therapy module and the head-mounted photobiomodulation module are arranged on the supporting body to assist in training.

[0019] Optionally, the rehabilitation training robot is used for postoperative rehabilitation or swallowing dysfunction training or daily cognitive function training. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the main structure of a rehabilitation training robot according to an embodiment of the present invention; Figure 2 An exploded view of the connection method between the supporting member and the supporting pad according to an embodiment of the present invention; Figure 3 It is a schematic structural diagram of one of the rehabilitation components of the rehabilitation training robot according to an embodiment of the present invention; Figure 4 It is a structural schematic diagram of another rehabilitation component of the rehabilitation training robot according to an embodiment of the present invention; Figure 5 It is a structural schematic diagram of another rehabilitation component of the rehabilitation training robot according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the internal structure of the support body of the rehabilitation training robot according to an embodiment of the present invention; Figure 7 This is a structural cross-sectional view of a rehabilitation training robot in which a positioning member is rotatably arranged inside a supporting member according to an embodiment of the present invention.

[0021] Reference numerals: 100, support body; 110, supporting member; 120, support pad; 130, connecting plate; 140, positioning member; 150, irradiation module; 200, sensor assembly; 210, middle sensor; 220, edge sensor; 230, detection sensor; 240, tilt sensor; 300, mechanical arm; 310, fixed end; 320, driving arm; 330, movable end; 340, wheel; 350, force feedback sensor; 400, rehabilitation assembly; 410, tongue suction module; 411, accommodating chamber ; 412, vacuum component; 413, solenoid valve; 414, vacuum pump; 415, first support part; 420, tongue pressure resistance module; 421, detection part; 422, first sensor; 423, second sensor; 424, second support part; 430, gas pulse module; 431, gas supply device; 432, nozzle; 433, third support part; 500, display screen; 610, main control board; 620, power supply; 630, switch; 640, emergency stop button; 650, speaker; 700, lifting platform. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. 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 creative work are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be understood by people with general skills in the field to which the present invention belongs. "Including" and similar words used in this article mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0023] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0024] refer to Figure 1-7 . An embodiment of the present invention provides a rehabilitation training robot for solving the problem that in the current combined therapy, two or more therapies can only be performed one after another in sequence, and it is impossible to perform two or more therapies at the same time to maximize the therapeutic effect. At the same time, since most of the patients with dysphagia are elderly people, the complexity of the therapy, the shortage of rehabilitation therapists, and the backwardness of rehabilitation equipment make home rehabilitation treatment very difficult, resulting in poor compliance with the treatment. Therefore, the problem of personalized effectiveness consistency caused by manual operation, the problem of being unable to use multiple therapies simultaneously, the problem of making nerve stimulation therapy safer and more comfortable, and the problem of compliance caused by the difficulty of home rehabilitation are solved. Among them, the rehabilitation training robot includes a support body 100 movably arranged in a vertical direction; The supporting member 110 is provided on the supporting body 100 and is used to support the mandible; The sensor assembly 200 is provided on the supporting member 110 to detect the force applied to the supporting member 110 in different use states and to detect the myoelectric value of the swallowing muscles; The mechanical arm 300 has a fixed end 310, a driving arm 320 and a movable end 330. One end of the driving arm 320 is connected to the fixed end 310, and the other end is connected to the movable end 330. The fixed end 310 is arranged on the supporting body 100. The driving arm 320 moves so that the movable end 330 can move relative to the supporting body 100. A wheel disc 340 is rotatably disposed on the movable end 330, and the wheel disc 340 has a plurality of adapters distributed along the circumference of the wheel disc 340; The rehabilitation component 400 is detachably mounted on the adapter portion. When the wheel 340 rotates, the rehabilitation component 400 can be switched to cooperate with the supporting member 110 to complete rehabilitation training.

[0025] In some embodiments, the support body 100 mainly plays a supporting role, and it can be cylindrical or prismatic, which is not limited here, and the support body 100 is mainly capable of supporting. In some specific embodiments, a lifting platform 700 is provided on the support body 100, and a motor capable of driving the lifting platform 700 to rise or fall is installed on the lifting platform 700. The motor starts to drive the lifting platform 700 to rise or fall, so that the support body 100 rises or falls, so as to drive the device on the support body 100 to move. In some specific embodiments, the device that drives the support body 100 to rise and fall can also be selected as an electric cylinder or a pneumatic cylinder. When an electric cylinder or a pneumatic cylinder is selected, the piston rod of the electric cylinder or the pneumatic cylinder is fixedly arranged on the support body 100, and the other end is arranged on a horizontal plane to drive the support body 100 to rise or fall.

[0026] In some embodiments, the supporting member 110 is rod-shaped, and one end of the supporting member 110 is arranged at the top of the supporting body 100, and the other end is arranged in an arc shape. The supporting member 110 is used to support the lower jaw. During the use of the rehabilitation training robot, the lower jaw is placed on one end of the supporting member 110 with an arc shape, so as to stabilize the lower jaw.

[0027] In some embodiments, a sensor assembly 200 is further provided on the support member 110, and the sensor assembly 200 includes multiple sensors with different functions. Some of the sensors are used to detect the force applied to the support member 110, and can cooperate with the support member 110 to detect the pressure value when the mandible is pressed down; another part of the sensors is used to contact the swallowing muscles to detect the myoelectric values ​​of the swallowing muscles; the specific sensor setting method in the sensor assembly 200 is introduced later.

[0028] In some embodiments, a mechanical arm 300 is further provided on the support body 100, wherein the mechanical arm 300 has a fixed end 310, a driving arm 320 and a movable end 330, wherein one end of the driving arm 320 is connected to the fixed end 310, and the other end is connected to the movable end 330. Specifically, one end of the driving arm 320 may be the fixed end 310, and the other end may be the movable end 330; or one end of the driving arm 320 may be connected to the fixed end 310, and the other end may be connected to the movable end 330; in this embodiment, the fixed end 310 is selected as a fixing seat, and is provided on the support body 100 by bolt fixing or clamping, and one end of the driving arm 320 is connected thereto, so that the driving arm 320 is fixedly provided on the support body 100; the movable end 330 is a mounting member, and the mounting member is fixedly connected to the other end of the driving arm 320, so that the movement of the driving arm 320 can drive the mounting member to move, so as to move relative to the support body 100. More specifically, there are multiple driving arms 320, which are connected to each other. Two adjacent driving arms 320 can rotate relative to each other. One of the two driving arms 320 at the outermost edges is connected to the fixed end 310, and the other is connected to the movable end 330, so that the movable end 330 can be driven to move when the driving arm 320 moves; wherein, the angle change between two adjacent driving arms 320 can be driven by a motor or by an electric cylinder, and the operation mode between the driving arms 320 is the existing technology and will not be elaborated here.

[0029] In some embodiments, the movable end 330 is provided with a wheel disc 340, and the wheel disc 340 can rotate at the movable end 330. Specifically, the movable end 330 is fixed with a motor, and the rotating shaft of the motor is key-connected with the wheel disc 340. At the same time, the motor can be fixed to the movable end 330 by bonding, clamping or bolting, etc., which is not limited here, and is mainly capable of driving the wheel disc 340 to rotate at the movable end 330. In some more specific embodiments, the motor is a servo motor, which can accurately control the rotation angle of the wheel disc 340.

[0030] In some embodiments, the wheel 340 is provided with a plurality of adapters, which are used to connect the rehabilitation component 400. In some specific embodiments, the adapter is a groove, and a device for clamping is provided in the groove to connect with the rehabilitation component 400. In some specific embodiments, the adapter is a protrusion, and a device for clamping is provided on the protrusion to connect with the rehabilitation component 400. The device for clamping is a prior art and will not be described in detail here.

[0031] In some embodiments, the rehabilitation component 400 is detachably arranged on the adapter part. During actual use, one rehabilitation component 400 or multiple rehabilitation components 400 can be installed according to actual conditions. When multiple rehabilitation components 400 are installed, different rehabilitation components 400 can be switched when the wheel 340 rotates, so that different rehabilitation components 400 can be coordinated with the supporting member 110 and the sensor component 200, so that a variety of therapies can be coordinated with the training process.

[0032] One of the rehabilitation components 400 includes a tongue suction module 410, one end of which is fixed to the adapter portion of the wheel 340, and the other end of which is provided with a receiving cavity 411 to receive the user's tongue; The vacuum assembly 412 is provided on the supporting body 100 and connected to the accommodating cavity 411, and is used to evacuate the accommodating cavity 411 so as to fix the user's tongue in the accommodating cavity 411; The movement of the robot arm 300 drives the tongue suction module 410 to move, so as to pull the user's tongue to perform rehabilitation exercises.

[0033] In some embodiments, the adapter is provided on the end face or side wall of the wheel disc 340, so that one end of the tongue suction module 410 is fixedly provided on the end face or side wall of the wheel disc 340. The fixing method can be selected from bonding, clamping or bolt fixing, etc., which is not limited here. The tongue suction module 410 is mainly fixed on the wheel disc 340 and rotates synchronously with the wheel disc 340. The other end of the tongue suction module 410 is concavely provided to form a receiving cavity 411 to accommodate the tongue; that is, the tongue suction module 410 includes a first support portion 415 and a receiving cavity 411. In order to fix the tongue in the receiving cavity 411, a vacuum component 412 is also provided on the support body 100. Specifically, the vacuum component 412 includes a solenoid valve 413 and a vacuum pump 414. The solenoid valve 413 and the vacuum pump 414 are both fixedly provided on the support body 100. The fixing method is not limited here. The position of the solenoid valve 413 and the vacuum pump 414 on the support body 100 will not be offset. The vacuum pump 414 is connected to the accommodating chamber 411 through a pipeline, so that the vacuum pump 414 can evacuate the accommodating chamber 411 when working, so as to fix the user's tongue in the accommodating chamber 411 by vacuum adsorption. Further, the vacuum pump 414 can be directly connected to the accommodating chamber 411 through a pipeline, or the accommodating chamber 411 can be connected to the first supporting portion 415, and the vacuum pump 414 is connected to the first supporting portion 415 through a pipeline and thus connected to the accommodating chamber 411, so that the vacuum pump 414 can evacuate the accommodating chamber 411 to fix the user's tongue.

[0034] In the active and passive rehabilitation training of tongue muscles, after the user's tongue is fixed to the tongue suction module 410, the movement of the mechanical arm 300 can drive the tongue suction module 410 to move, thereby pulling the user's tongue to perform rehabilitation exercises. Specifically, during the training process, the wheel 340 rotates to the tongue suction module 410, and then drives the mechanical arm 300 to move slowly and steadily to the specified position. At the specified position, the user slightly extends his tongue and enters the tongue suction device. At this time, the solenoid valve 413 and the vacuum pump 414 are started, and vacuum suction is generated in the accommodating chamber 411, sucking the user's tongue, and then the mechanical arm 300 pulls the user's tongue in all directions according to the set movement. During this process, the sensor assembly 200 will detect and visualize the entire training process in real time. After the training is completed according to the program setting, the vacuum pump 414 and the solenoid valve 413 will be closed, the suction disappears, and the mechanical arm 300 will return to the initial position. More specifically, during the active and passive rehabilitation training of the tongue muscles, the tongue suction device will suck the user's tongue, and then the system will prompt the user to swallow, and the sensor assembly 200 will measure and record the electromyographic values ​​generated by the swallowing muscles.

[0035] One of the rehabilitation components 400 includes a tongue pressure resistance module 420, one end of which is fixed to the adapter part of the wheel 340, and the other end has a detection piece 421; a first sensor 422 is provided at the top of the detection piece 421 to detect the position of the detection piece 421 in the oral cavity; a plurality of second sensors 423 are provided at the bottom of the detection piece 421 to detect the pressure and duration of the tongue applied to the detection piece 421 at different positions when the user's tongue contacts the second sensor 423.

[0036] In some embodiments, the tongue pressure resistance module 420 includes a second support portion 424 and a detection member 421, and the adapter portion is disposed on the end surface or side wall of the wheel 340, so that one end of the second support portion 424 is fixedly disposed on the end surface or side wall of the wheel 340, and there is a gap between the first support portion 415, so that when the wheel 340 rotates to the tongue pressure resistance module 420 and the supporting member 110, the tongue suction module 410 will not interfere with the tongue pressure resistance module 420. The detection member 421 and the second support portion 424 are fixed to each other, and a first sensor 422 is disposed at one end of the detection member 421, and a second sensor 423 is disposed at the other end. Specifically, when the wheel 340 rotates, the tongue pressure resistance module 420 cooperates with the supporting member 110, and a first sensor 422 is arranged at the top of the sensor, wherein at least one first sensor 422 is arranged. In the present embodiment, one first sensor 422 is arranged as an example; when the detection member 421 is inserted into the oral cavity, the detection member 421 moves upward, so that the first sensor 422 contacts the upper jaw of the oral cavity, until the detection member 421 is close to the upper jaw of the oral cavity. A plurality of second sensors 423 are arranged at the bottom end of the detection member 421, and the plurality of second sensors 423 are evenly distributed at the bottom end of the detection member 421. In the present embodiment, four second sensors 423 are arranged as an example. Specifically, when the position of the detection member 421 is fixed, the user's tongue presses against the second sensors 423 at four different positions, and the second sensors 423 will display the pressure applied by the user and the duration in real time for easy detection. More specifically, in order to improve the user's comfort, the first sensor 422 and the second sensor 423 are both flexible pressure sensors.

[0037] Among them, during the tongue pressure resistance feedback training process, the wheel 340 rotates to the tongue pressure resistance module 420, and then drives the mechanical arm 300 to move slowly and steadily to the specified position in the user's mouth, that is, the user's mouth. After reaching the user's oral position, the mechanical arm 300 will drive the detection part 421 to move vertically upward, and stop immediately when the first sensor 422 detects a value. At this time, the detection part 421 of the tongue pressure resistance module 420 is just close to the upper palate of the mouth. The system begins to guide the user to perform isometric exercise training of the tongue muscles. The user uses the tongue to press against the second sensor 423 at 4 different positions. The sensor will display the pressure applied by the user and the duration in real time. At the same time, the sensor component 200 also measures the myoelectric value of the swallowing muscle in real time to determine the condition of the muscle. After the training is completed according to the program settings, the mechanical arm 300 will return to the initial position.

[0038] One of the rehabilitation components 400 includes: an air pulse module 430, one end of which is fixed to the adapter of the wheel disc 340, and the other end is used to spray air; an air supply device 431, which is provided on the support body 100 and connected to the air pulse module 430 to provide air; The gas pulse module 430 moves under the drive of the robot arm 300, and the gas provided by the gas supply device 431 flows through the gas pulse module 430 and sprays to a predetermined position to form stimulation, and the sensor component 200 detects the electromyographic value.

[0039] In some embodiments, the gas pulse module 430 includes a third support portion 433 and a nozzle 432. The adapter portion is disposed on the end surface or side wall of the wheel disc 340, so that one end of the third support portion 433 is fixedly disposed on the wheel disc 340 and can rotate synchronously with the wheel disc 340 to drive the gas pulse module 430 to rotate. The nozzle 432 is disposed at the other end of the third support portion 433. In some specific embodiments, the third support portion 433, the second support portion 424 and the first support portion 415 are evenly distributed on the wheel disc 340, so that when the wheel disc 340 rotates to any rehabilitation component 400 to cooperate with the supporting member 110, the other rehabilitation components 400 will not interfere with it. In some specific embodiments, the gas supply device 431 is fixedly disposed on the support body 100, and the fixing method thereof is not limited here, and the position of the gas supply device 431 on the support body 100 will not be offset. The gas supply device 431 can provide gas to the nozzle 432, so that the gas flows through the gas pulse module 430 and sprays to a predetermined position to form stimulation. In some more specific embodiments, the air supply device 431 is selected to be an air pump and is connected to the nozzle 432 through a pipeline.

[0040] In the process of air pulse sensory stimulation training, the wheel 340 rotates to the air pulse module 430, and then drives the mechanical arm 300 to move slowly and steadily to the specified position in the user's mouth. After reaching the user's oral position, the air pump is turned on and starts to inject air into the mouth to stimulate the tonsil area. When the stimulation time set by the program is up, the mechanical arm 300 will return to the initial position, and then the system will prompt the user to swallow, and the sensor component 200 will measure and record the electromyographic value generated by the swallowing muscles.

[0041] Reference Figure 2 A support pad 120 is provided on the top of the support member 110 to support the mandible; the sensor assembly 200 includes: A middle sensor 210, one end of which is disposed in the middle of the support pad 120, and the other end of which contacts the supporting member 110; An edge sensor 220, one end of which is disposed at the edge of the support pad 120 and the other end of which is in contact with the supporting member 110; A tilt sensor 240, one end of which is disposed on the support pad 120 and the other end of which is in contact with the supporting member 110; Among them, the middle sensor 210, the edge sensor 220 and the tilt sensor 240 cooperate to detect whether the height of the support 110 is adjusted in place before training and whether the user's head is fixed and stable; the middle sensor 210 and the tilt sensor 240 cooperate to assist in rehabilitation training.

[0042] Specifically, the middle sensor 210, the edge sensor 220 and the tilt sensor 240 cooperate to detect whether the height of the support member 110 is adjusted in place before training; they can also detect whether the user's head is fixed and stable during training. When the user's head is not fixed and stable, that is, the head can move back and forth, the values ​​of the middle sensor 210, the edge sensor 220 and the tilt sensor 240 will change irregularly, and the user's head should be refixed at this time; the middle sensor 210 and the tilt sensor 240 cooperate to assist in rehabilitation training, that is, Shaker training can be performed, which is specifically introduced below.

[0043] In some embodiments, the support pad 120 is arranged at the top of the support member 110 to support the mandible so that there is no relative displacement between the support member 110 and the mandible. More specifically, the middle sensor 210 is fixedly arranged at the middle of the bottom of the support pad 120, and one end of the middle sensor 210 contacts the support pad 120, and the other end contacts the top of the support member 110; there are two edge sensors 220, which are arranged at both ends of the support pad 120, one end of the edge sensor 220 contacts the support pad 120, and the other end contacts the top of the support member 110; there are two tilt sensors 240, which are arranged at both ends of the edge sensor 220 close to the user, one end of the tilt sensor 240 contacts the support pad 120, and the other end contacts the top of the support member 110; the middle sensor 210, the edge sensor 220 and the tilt sensor 240 cooperate to support the support member 110 and can feedback pressure.

[0044] More specifically, in the Shaker training method or the mandibular retraction resistance training, after the user's mandible is placed on the support member 110, the user presses down vertically through the support member 110. At this time, the middle sensor 210 can display the pressure value in real time to see whether the force of the pressure reaches the set value and whether the duration of the pressure reaches the set value. The user can also press down diagonally to the lower left or lower right, that is, the user can press down diagonally, and the two tilt sensors 240 are used as real-time biofeedback to guide the training.

[0045] The sensor assembly 200 further includes a detection sensor 230 disposed on the supporting member 110 and configured to contact the swallowing muscles to detect myoelectric values.

[0046] In some embodiments, the detection sensor 230 is movably disposed on the support member 110. When the lower jaw contacts the support member 110, the detection sensor 230 contacts the swallowing muscles, and is mainly used to detect the myoelectric value of the swallowing muscles.

[0047] Among them, in the Shaker training method or the mandibular retraction resistance training, that is, in the process of the user's mandible applying pressure to the support member 110, the detection sensor 230 measures the myoelectric value of the swallowing muscle in real time, and the fatigue degree of the muscle can be determined.

[0048] During the active and passive rehabilitation training of the tongue muscles, the detection sensor 230 will detect and visualize the entire training process in real time. During the active and passive rehabilitation training of the tongue muscles, the tongue suction device will suck the user's tongue, and then the system will prompt the user to swallow, and the detection sensor 230 will measure and record the electromyographic value generated by the swallowing muscles.

[0049] In tongue pressure resistance feedback training, while the second sensor 423 displays the pressure applied by the user and the duration in real time, the detection sensor 230 also measures the myoelectric value of the swallowing muscles in real time to determine the condition of the muscles.

[0050] During the air pulse sensory stimulation training, when the user swallows, the detection sensor 230 measures and records the myoelectric values ​​generated by the swallowing muscles.

[0051] The movable end 330 is also provided with a force feedback sensor 350 for detecting the force applied to the mechanical arm 300; In the process of the robot arm 300 moving to the predetermined position, when the force feedback sensor 350 detects a force signal and feeds back, the robot arm 300 receives the feedback signal and returns to the initial position.

[0052] In some embodiments, the force feedback sensor 350 is disposed at the movable end 330. In some embodiments, the force feedback sensor 350 is disposed at the driving arm 320, and the driving arm 320 is connected to the movable end 330 through the force feedback sensor 350.

[0053] In the process of the movement of the movable end 330, that is, the process of the robot arm 300 moving from the initial position to the designated position, the robot arm 300 moves slowly and steadily to the designated position of the user's mouth. If the force feedback sensor 350 of the robot arm 300 detects any object before this position, the robot arm 300 will immediately stop moving forward and return to the initial position, and then re-plan the movement to the designated position; so as to reduce the damage to the oral cavity caused by the robot arm 300. For example, when the robot arm 300 moves to the designated position, one of the rehabilitation components 400 contacts the human body. At this time, if the rehabilitation component 400 continues to move, it may cause damage to the oral cavity. At this time, the force sensor detector gives feedback. After receiving the feedback, the robot arm 300 stops moving and returns to the initial position, re-plans the route, or adjusts the position of the mandible.

[0054] Two positioning members 140 are rotatably provided on the supporting member 110 . A driving member is provided on the supporting member 110 to drive the positioning members 140 to rotate so as to adjust the angle between the two positioning members 140 .

[0055] Rehabilitation training robots also include: The irradiation module 150 has a transmitter, which is disposed on the positioning member 140. The transmitter is used to emit light to a designated position to stimulate nerves.

[0056] Specifically, a connecting plate 130 is provided on the supporting member 110, and the supporting member 110 passes through the middle of the connecting plate 130. The supporting member 110 and the connecting plate 130 are fixedly connected so that there is no relative displacement between the two, wherein the two ends of the connecting plate 130 are rotatably connected with positioning members 140. Specifically, the positioning member 140 is rotatably arranged at the end of the connecting plate 130 through a rotating shaft, and the transmitter is arranged on the positioning member 140. When the mandible is placed on the supporting member 110, the positioning member 140 can be controlled to rotate so that the transmitter is aimed at a designated position to emit light for nerve stimulation.

[0057] More specifically, the emitter is selected to be an LED module, and red light and near-infrared light LEDs are used in combination.

[0058] In some embodiments, reference Figure 7 The interior of the supporting member 110 is hollow, one end of the positioning member 140 extends into the interior of the supporting member 110, and the driving member is also arranged inside the supporting member 110, driving the corresponding positioning member 140 to rotate inside the supporting member 110. In order not to interfere with the rotation process of the positioning member 140, a vertically arranged groove is opened on the side wall of the supporting member 110. After the positioning member 140 passes through the groove, it is rotated inside the supporting member 110, thereby facilitating the rotation of the positioning member 140 inside the supporting member 110.

[0059] In some embodiments, the wavelength range of the red light and the near infrared light is in the range of 630 nm to 850 nm.

[0060] In some specific embodiments, a wavelength of 810 nm is selected to biomodulate nerve and muscle tissue.

[0061] In some more specific embodiments, 20 mw / cm 2 Up to 100mw / cm 2 The specified location is illuminated with a power intensity between.

[0062] In some more specific embodiments, the illumination is continuous or pulsed and lasts for 20-40 minutes.

[0063] In some more specific embodiments, the irradiation location is the buccal acupoint of the user.

[0064] Before each training session, the calibration value for this training session and the target value for strength training will be calculated.

[0065] Specifically, when the user remains relaxed, the detection sensor 230 will measure the user's electromyographic value as a baseline. Then the user is asked to swallow vigorously for several times, each swallowing lasts for a certain period of time. After swallowing, the user relaxes and rests for a period of time. The detection sensor 230 will record the maximum electromyographic value of each swallowing, take the average value and subtract the baseline electromyographic value as the calibration value for the skill training of the user's rehabilitation treatment, and take 80% of this value as the target value for strength training.

[0066] More specifically, during the calculation process, the user is asked to swallow forcefully 5 times, each swallowing taking 30 seconds. After swallowing, the user is asked to relax and rest for 30 seconds. The detection sensor 230 will record the maximum electromyographic value of each swallow, take the average of the 5 times and subtract the baseline electromyographic value as the calibration value for the skill training of the user's rehabilitation treatment, and take 80% of this value as the target value for strength training.

[0067] After each exercise strength training and a certain rest period, the system will guide the user to conduct a swallowing skill training. The central electromyographic value of the target area of ​​the training is 50% of the calibration value, and the size of the area is 30% of the calibration value. The detection sensor 230 will measure and record the electromyographic value generated by the swallowing muscles.

[0068] At this time, the system will calculate 4 indicators.

[0069] The first indicator is acceleration, which reflects the strength of the tongue muscles by dividing the change in electromyographic value caused by swallowing by the time taken to reach the highest point.

[0070] The second indicator is the hit rate, which is the number of successfully completed precision tasks divided by the number of attempts. A rate greater than 80% indicates that the skill training has met expectations.

[0071] The third indicator is the relative time error, which is the difference between the time point of the peak value of the detection sensor 230 and the time point of the set target area center divided by the single training duration (usually 30 seconds).

[0072] The fourth indicator is the relative amplitude error, which is the difference between the peak voltage value of the detection sensor 230 and the voltage value at the center of the set target area divided by the peak value of the detection sensor 230.

[0073] The rehabilitation training robot further includes a display screen 500 , which is disposed on the supporting body 100 and is electrically connected to the sensor component 200 and the rehabilitation component 400 to display data.

[0074] In some embodiments, there is a gap between the display screen 500 and the support member 110, and the screen of the display screen 500 is opposite to the support member 110, so that the user can intuitively observe the display screen 500 when placing the lower jaw on the support member 110, so as to observe data or assist the user to relax.

[0075] In some embodiments, the display screen 500 can be connected to the user's mobile phone via Bluetooth, or connected to other control devices. This is a prior art and will not be described in detail here.

[0076] In some embodiments, the control of the display screen 500 may also include setting up a dedicated control robot or control program to manipulate the content displayed on the display screen 500 .

[0077] In some embodiments, a speaker 650 is provided on the support body 100. The speaker 650 can be fixed to the support body 100 by bonding, clamping or bolting. There is no limitation here. The position of the speaker 650 on the support body 100 will not be offset. The speaker 650 can cooperate with the display screen 500 to help the user relax.

[0078] In some embodiments, when calculating calibration values ​​for skill training and target values ​​for strength training for a user's rehabilitation therapy, the speaker 650 cooperates with the display screen 500 to enable the user to relax faster.

[0079] In order to facilitate the overall control of the rehabilitation training robot, a main control board 610 is also provided in the support body 100, a power supply 620 is provided in the support body 100, and a switch 630 is provided on the side arm of the support body 100 close to the supporting member 110. The main control board 610, the power supply 620 and the switch 630 are electrically connected through lines, wherein the power supply 620 is used to supply power to the main control board 610, and the opening is used to close or open the circuit to control whether the power supply 620 supplies power to the main control board 610; in addition, the main control board 610 is also electrically connected to the solenoid valve 413, the vacuum pump 414, the air pump, the force feedback sensor 350, the sensor assembly 200 and the display screen 500, etc., so as to facilitate the same control of them. In addition, an emergency stop button 640 is also provided on the support body 100. The emergency stop button 640 is arranged on the line between the main control board 610, the power supply 620 and the switch 630. The specific position is not limited here, so that the user can touch it in time. When the user presses the emergency stop button 640, the line between the main control board 610, the power supply 620 and the switch 630 is disconnected to ensure safety.

[0080] In some embodiments, different treatment modules can be added to the end effector of the robotic arm 300, that is, the active end 330, that is, the rehabilitation component 400 can also include an electronic lollipop, an oral improvement massage stick, and a respiratory muscle exerciser, etc. During actual use, they can be installed according to different usage scenarios; among them, the structures of the electronic lollipop, the oral improvement massage stick, and the respiratory muscle exerciser are all existing technologies and will not be elaborated here.

[0081] In some embodiments, a head-mounted photobiomodulation module adapted to the rehabilitation training robot is added, which is worn on the user's head during training to stimulate more acupuncture points and nerves on the user's head for assistance. In some specific embodiments, the head-mounted photobiomodulation module has multiple emitters to stimulate designated acupuncture points.

[0082] In some embodiments, an intermittent high and low oxygen therapy module is added, and the user breathes high and low oxygen at the same time when doing exercise or skill training to increase the plasticity of the nerves. In some embodiments, the high and low oxygen therapy module is provided on the support body 100, and is used to provide oxygen to the user, wherein the high and low oxygen therapy module has a valve, which can control the oxygen ratio according to a preset program (such as an intermittent low oxygen training protocol), and is connected to a breathing mask or a nasal cannula at its own outlet for the user to use.

[0083] In some embodiments, a moving device, such as rollers or tracks, can also be provided at the bottom of the supporting body 100 to create a mobile or humanoid robot to provide companionship for the elderly.

[0084] In some embodiments, more visual sensors are added to the robotic arm 300 to monitor the position and dynamics of the robotic arm 300 in real time and provide feedback to further improve safety.

[0085] In some embodiments, an artificial intelligence chip and a microphone are added to the main control board 610 to implement the end-side LLM large language model to meet the needs of using voice AI to guide users in voice training and increase interactivity.

[0086] In some embodiments, the rehabilitation training robot can be used for postoperative rehabilitation or swallowing dysfunction training or daily cognitive function training, such as Alzheimer's disease rehabilitation training, or for other tongue-based rehabilitation training processes.

[0087] The implementation principle of a rehabilitation training robot in the present application is that before training, a personalized training plan can be set, and multiple trainings can be carried out simultaneously or different trainings can be rotated in sequence. During training, the user places the lower jaw on the support member 110. At this time, the detection sensor 230 contacts the user's swallowing muscles and detects the myoelectric values ​​generated by the user's swallowing in real time. At the same time, the user applies pressure to the support member 110, and the middle sensor 210 and the edge sensor 220 can detect the size and duration of the pressure applied by the user in real time. During this process, the wheel 340 can be controlled to switch different rehabilitation components 400 to cooperate with the support member 110 to carry out rehabilitation training.

[0088] Although the embodiments of the present invention are described in detail above, it is obvious to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations are within the scope and spirit of the present invention as described in the claims. Moreover, the present invention described herein may have other embodiments and may be implemented or realized in a variety of ways.

Claims

1. A rehabilitation training robot, characterized in that: include: A supporting body (100) movably arranged in a vertical direction; A supporting member (110), provided on the supporting body (100), for supporting the mandible; A sensor assembly (200) is disposed in the support member (110) to detect the magnitude of the force applied to the support member (110) in different use states and to detect the myoelectric value of the swallowing muscles; A mechanical arm (300) comprising a fixed end (310), a driving arm (320) and a movable end (330); one end of the driving arm (320) is connected to the fixed end (310), and the other end is connected to the movable end (330); the fixed end (310) is arranged on the supporting body (100); the driving arm (320) moves so that the movable end (330) can move relative to the supporting body (100); A wheel disc (340) is rotatably disposed on the movable end (330), and the wheel disc (340) has a plurality of adapters distributed along the circumference of the wheel disc (340); The rehabilitation component (400) is detachably mounted on the adapting portion, and when the wheel (340) rotates, the rehabilitation component (400) can be switched to cooperate with the supporting component (110) to complete rehabilitation training.

2. The rehabilitation training robot according to claim 1, characterized in that: One of the rehabilitation components (400) comprises: A tongue suction module (410), one end of which is arranged on the adapter portion, and the other end of which is provided with a receiving cavity (411) for receiving the tongue of a user; a vacuum component (412), disposed on the supporting body (100), connected to the accommodating cavity (411), and used for evacuating the accommodating cavity (411) so as to fix the user's tongue in the accommodating cavity (411); The movement of the mechanical arm (300) drives the tongue suction module (410) to move, so as to pull the user's tongue to perform rehabilitation exercises.

3. The rehabilitation training robot according to claim 1, characterized in that: One of the rehabilitation components (400) comprises: A tongue pressure resistance module (420) is provided at one end of the adapter and has a detection member (421) at the other end; a first sensor (422) is provided at the top of the detection member (421) to detect the position of the detection member (421) in the oral cavity; a plurality of second sensors (423) are provided at the bottom of the detection member (421) to detect the pressure and duration of the pressure applied by the tongue to the detection member (421) at different positions when the tongue of the user contacts the second sensors (423).

4. The rehabilitation training robot according to claim 1, characterized in that: One of the rehabilitation components (400) comprises: A gas pulse module (430), one end of which is arranged on the adapter portion and the other end of which is used to eject gas; A gas supply device (431), disposed on the supporting body (100) and connected to the gas pulse module (430) to provide gas; The gas pulse module (430) moves under the drive of the mechanical arm (300), the gas provided by the gas supply device (431) flows through the gas pulse module (430) and is sprayed toward a predetermined position to form stimulation, and the sensor component (200) detects the electromyographic value.

5. The rehabilitation training robot according to claim 1, characterized in that: A support pad (120) is provided on the top of the supporting member (110) to support the mandible; The sensor assembly (200) comprises: A middle sensor (210), one end of which is disposed in the middle of the support pad (120) and the other end of which is in contact with the supporting member (110); an edge sensor (220), one end of which is disposed on the edge of the support pad (120) and the other end of which is in contact with the supporting member (110); a tilt sensor (240), one end of which is disposed on the support pad (120) and the other end of which is in contact with the supporting member (110); The middle sensor (210), the edge sensor (220) and the tilt sensor (240) cooperate to detect whether the height of the support (110) is adjusted in place before training and whether the user's head is fixed and stable; the middle sensor (210) and the tilt sensor (240) cooperate to assist in rehabilitation training.

6. The rehabilitation training robot according to claim 5, characterized in that: The sensor assembly (200) further comprises: The detection sensor (230) is arranged on the supporting member (110) and is used for contacting the swallowing muscle to detect the myoelectric value.

7. The rehabilitation training robot according to claim 1, characterized in that: The movable end (330) is also provided with a force feedback sensor (350) for detecting the force applied to the mechanical arm (300); In the process of the mechanical arm (300) moving to a predetermined position, when the force feedback sensor (350) detects a force signal and feeds back, the mechanical arm (300) receives the feedback signal and returns to the initial position.

8. The rehabilitation training robot according to claim 1, characterized in that: Two positioning members (140) are rotatably provided on the supporting member (110), and a driving member is provided on the supporting member (110) to drive the positioning members (140) to rotate so as to adjust the angle between the two positioning members (140).

9. The rehabilitation training robot according to claim 8, characterized in that: Also includes: The irradiation module (150) has a transmitter and can be arranged on the positioning member (140). The transmitter is used to emit light to a designated position to stimulate nerves.

10. The rehabilitation training robot according to claim 1, characterized in that: The rehabilitation component (400) is one of an electronic lollipop, an oral improvement massage stick or a respiratory muscle exerciser.

11. The rehabilitation training robot according to any one of claims 1 to 10, characterized in that: It also includes a display screen (500), which is arranged on the supporting body (100) and is electrically connected to the sensor component (200) and the rehabilitation component (400) to display data.

12. The rehabilitation training robot according to any one of claims 1 to 10, characterized in that: It also includes a high-low oxygen therapy module and a head-mounted photobiomodulation module, and both the high-low oxygen therapy module and the head-mounted photobiomodulation module are arranged on the support body (100) to assist training.

13. The rehabilitation training robot according to any one of claims 1 to 10, characterized in that: The rehabilitation training robot is used for postoperative rehabilitation or swallowing dysfunction training or daily cognitive function training.

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