Robot for abdominal postoperative rehabilitation exercise

Abstract

The invention discloses a robot for abdominal postoperative rehabilitation exercise, and relates to the field of rehabilitation management.The robot comprises a robot body and a robot control system used for controlling the robot body, and the robot control system comprises a postoperative activity prompting module, a postoperative ankle pump motion module, a postoperative rehabilitation assisting module and a database; the postoperative activity prompting module is used for collecting and analyzing postoperative body data of the patient so as to set a robot activity prompting scheme; the postoperative ankle pump movement module collects and analyzes postoperative ankle pump basic movement data of a patient so as to set a patient ankle pump rehabilitation movement scheme, the postoperative rehabilitation assistance module collects and analyzes current patient rehabilitation data, whether the patient can get out of bed to move or not is judged according to the result, personalized rehabilitation movement demonstration is carried out, and the patient can get out of bed to move. The robot system can adjust the rehabilitation exercise scheme according to the physical condition of the patient, and the postoperative rehabilitation effect of the patient can be improved.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation management, and particularly to a robot for postoperative abdominal rehabilitation exercise. Background Art

[0002] With the development of medical technology, the number of abdominal surgeries is increasing continuously, and the demand for rehabilitation treatment of postoperative patients is also growing day by day. After abdominal surgery, the physical functions of patients are affected, such as gastrointestinal dysfunction, limited limb movement, etc. Scientific and effective rehabilitation means are needed to promote physical recovery and improve the quality of life. Therefore, a robot for postoperative abdominal rehabilitation exercise is needed.

[0003] The prior art is as follows: Rehabilitation exercise robots can often only provide several preset fixed exercise modes. After medical staff input corresponding instructions, they will give prompts and explanations to patients at preset time points, and at the same time, according to a fixed template, help patients perform basic limb movement training functions.

[0004] Aiming at the prior art, there are at least the following deficiencies: 1. Rehabilitation exercise robots only have fixed operation methods and cannot generate personalized rehabilitation plans in real time according to the specific conditions, physical data and rehabilitation progress of patients, which is difficult to meet the unique rehabilitation needs of each patient and reduces the effect of rehabilitation training.

[0005] 2. Although rehabilitation exercise robots can collect some basic motion data, they cannot collect the behavioral data of patients, cannot provide a scientific basis for the adjustment of rehabilitation plans through in-depth data analysis, are difficult to realize the dynamic monitoring and precise guidance of the rehabilitation process of patients, cannot fully consider the special physical conditions and rehabilitation needs of postoperative abdominal patients, reduce the accuracy of data analysis, thereby reducing the satisfaction of patients in using them, and cannot achieve the expected rehabilitation training effect. Summary of the Invention

[0006] Aiming at the above existing technical deficiencies, the purpose of the present invention is to provide a robot for postoperative abdominal rehabilitation exercise.

[0007] To solve the above technical problems, the present invention adopts the following technical solutions: The present invention provides a robot for postoperative abdominal rehabilitation exercise, including a robot body and a robot control system for controlling the robot body. The robot control system includes: a postoperative activity prompt module, which is used to collect the postoperative physical data of patients, analyze the postoperative physical data of patients based on a mental recovery model, and set a robot activity prompt plan according to the analysis results.

[0008] The postoperative ankle pump exercise module is used to set the postoperative ankle pump basic exercise plan according to the robot activity prompt plan, and at the same time collect the patient's postoperative ankle pump basic exercise data. Based on the ankle pump exercise model, analyze the patient's postoperative ankle pump basic exercise data, and set the patient's ankle pump rehabilitation exercise plan according to the analysis results.

[0009] The postoperative rehabilitation assistance module is used to collect the current patient's rehabilitation data according to the patient's ankle pump rehabilitation exercise plan. Based on the patient's rehabilitation model, analyze the current patient's rehabilitation data, and judge whether the patient can get out of bed and exercise according to the results. If the patient can get out of bed and exercise, conduct a demonstration of rehabilitation exercise under the bed, and at the same time collect the patient's rehabilitation exercise data under the bed. Based on the rehabilitation exercise model, analyze the patient's rehabilitation activity exercise data, and set the rehabilitation exercise change plan under the bed according to the analysis results.

[0010] Preferably, the analysis of the patient's rehabilitation activity exercise data is as follows: The patient's rehabilitation activity exercise data includes the patient's rehabilitation exercise rate under the bed, the duration of rehabilitation exercise under the bed, the frequency of rehabilitation exercise under the bed, the completion rate of rehabilitation exercise, and the accuracy rate of rehabilitation exercise. Input the patient's rehabilitation exercise rate under the bed, the duration of rehabilitation exercise under the bed, the frequency of rehabilitation exercise under the bed, the completion rate of rehabilitation exercise, and the accuracy rate of rehabilitation exercise into the rehabilitation exercise model to obtain the patient's output result. The values of the output result include 0, 1, 2, and 3.

[0011] If the patient's output result is 0, prompt the patient to reduce the number of times of getting out of bed and moving. If the patient's output result is 1, prompt the patient to increase the number of times of getting out of bed and moving. If the patient's output result is 2, obtain rehabilitation action groups of various intensities from the database, change the current rehabilitation action group to a rehabilitation action group under the bed with an adjacent and lower intensity, and demonstrate it to the patient. If the patient's output result is 3, change the current rehabilitation action group to a rehabilitation action under the bed with an adjacent and higher intensity, and demonstrate it to the patient, so as to obtain the rehabilitation exercise change plan under the bed.

[0012] The beneficial effects of the present invention are as follows: 1. Through the postoperative activity prompt module, the present invention collects and analyzes the patient's postoperative physical data, thereby setting the robot activity prompt plan. Through the postoperative ankle pump exercise module, it collects and analyzes the patient's postoperative ankle pump basic exercise data, thereby setting the patient's ankle pump rehabilitation exercise plan. Through the postoperative rehabilitation assistance module, it collects and analyzes the current patient's rehabilitation data, judges whether the patient can get out of bed and exercise according to the results, and conducts personalized rehabilitation exercise demonstrations. This robot system can adjust the rehabilitation exercise plan according to the patient's physical condition, which helps to improve the postoperative rehabilitation effect of the patient.

[0013] 2. Through mental recovery models, ankle pump exercise models, patient rehabilitation models, etc., the present invention comprehensively considers multi-dimensional data such as the patient's vital signs, limb movements, eye movements, gastrointestinal functions, wound recovery, etc., and can customize a rehabilitation plan for each patient. For example, it determines whether early postoperative activities are suitable according to the actual situation of the patient, sets a personalized ankle pump rehabilitation exercise plan, judges the timing of getting out of bed for exercise, etc., fully meeting the individual differences of patients and improving the pertinence and effectiveness of the rehabilitation plan.

[0014] 3. The present invention can accurately evaluate the patient's rehabilitation progress, determine the basic exercise level based on the patient's basic ankle pump exercise data after surgery, and then select the most suitable ankle pump rehabilitation exercise plan. It judges whether it is necessary to adjust the intensity of the rehabilitation action group according to the getting-out-of-bed rehabilitation exercise data. The evaluation and dynamic adjustment capabilities of the present invention enable patients to receive rehabilitation training suitable for their current status and improve the rehabilitation effect.

[0015] 4. When judging whether a patient can get out of bed for exercise, the present invention comprehensively considers multiple key factors such as the gastrointestinal function recovery index and the wound recovery index. When the preset criteria are met, the patient is allowed to get out of bed for rehabilitation exercise. At the same time, the patient's data is continuously monitored during the rehabilitation process, and the rehabilitation plan is adjusted in a timely manner according to the analysis results to avoid complications such as wound dehiscence and infection caused by premature or inappropriate exercise, and to ensure the safety of the patient's rehabilitation.

[0016] 5. The present invention will give activity prompts to the patient in a timely manner according to the analysis results, and explain the purpose of rehabilitation activities such as ankle pump exercise, so that the patient understands the significance and benefits of rehabilitation training and improves the patient's enthusiasm for rehabilitation. In addition, the system can also give corresponding feedback and guidance according to the patient's rehabilitation progress, prompt to increase or decrease the number of getting-out-of-bed activities. The personalized interaction method helps to enhance the patient's participation and compliance, and enables the patient to cooperate more actively with the rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 It is a schematic diagram of the connection of the robot control system module of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0020] According to Figure 1 As shown, the present invention provides a robot for abdominal postoperative rehabilitation exercise, including a robot body and a robot control system for controlling the robot body. The robot control system includes: a postoperative activity prompt module, a postoperative ankle pump exercise module, a postoperative rehabilitation assistance module, and a database.

[0021] The postoperative ankle pump exercise module is respectively connected to the postoperative activity prompt module, the postoperative rehabilitation assistance module, and the database, and the postoperative rehabilitation assistance module is respectively connected to the postoperative ankle pump exercise module and the database.

[0022] The postoperative activity prompt module is used to collect the patient's postoperative body data, analyze the patient's postoperative body data based on the mental recovery model, and set the robot activity prompt plan according to the analysis result.

[0023] In a specific embodiment, the collection of the patient's postoperative body data is as follows: The patient's postoperative body data includes the patient's vital sign assessment index, the vital sign assessment index volatility, the number of limb activities, the number of limb activity volatilities, the number of eye activities, and the number of eye activity volatilities.

[0024] Use a monitor to collect the patient's heart rate, blood pressure, body temperature, respiratory rate, and blood oxygen saturation. Obtain the heart rate range, blood pressure range, body temperature range, respiratory rate range, and blood oxygen saturation range corresponding to each vital sign assessment index from the database. If the patient's heart rate, blood pressure, body temperature, respiratory rate, and blood oxygen saturation all belong to the respective ranges corresponding to a certain vital sign assessment index, it indicates that the patient's vital sign assessment index is this vital sign assessment index. Thus, the vital sign assessment index is collected, and then the historical vital sign assessment indexes of each measurement within a preset duration are obtained. Select the maximum and minimum values of the historical vital sign assessment indexes within the preset duration, divide the difference between the maximum and minimum values of the historical vital sign assessment indexes within the preset duration by the sum of the maximum and minimum values, and obtain the vital sign assessment index volatility. In this way, the patient's vital sign assessment index and vital sign assessment index volatility are obtained.

[0025] Collect the patient's video through a camera, obtain the number of limb movements and the number of eye movements from the patient's video through machine vision technology, and then obtain the number of limb movements and the number of eye movements collected each time within a preset duration. According to the analysis method of the vital sign assessment index volatility, analyze the number of limb movements and the number of eye movements collected each time within the preset duration to obtain the limb movement number volatility and the eye movement number volatility, and thus obtain the patient's number of limb movements, limb movement number volatility, number of eye movements, and eye movement number volatility.

[0026] In a specific embodiment, the analysis of the patient's postoperative physical data is as follows: Input the patient's vital sign assessment index, vital sign assessment index volatility, number of limb movements, limb movement number volatility, number of eye movements, and eye movement number volatility into the mental recovery model to obtain an output result, and the value of the output result includes 0 and 1.

[0027] If the value of the output result is 0, it indicates that the current patient does not need to perform early postoperative activities. If the value of the output result is 1, it indicates that the current patient can perform ankle pump exercises after surgery, give a robot activity prompt, explain the purpose of ankle pump exercises to the patient, and prompt the patient to perform ankle pump exercises after surgery.

[0028] In a specific embodiment, the expression of the mental recovery model is:

[0029]

[0030] , where α is the output result, A, a, B, b, D, and d are respectively the patient's vital sign assessment index, vital sign assessment index volatility, number of limb movements, limb movement number volatility, number of eye movements, and eye movement number volatility, A′, a′, B′, b′, D′, and d′ are respectively the preset standard vital sign assessment index, standard vital sign assessment index volatility, standard number of limb movements, standard limb movement number volatility, standard number of eye movements, and standard eye movement number volatility, ε1, ε2, and ε3 are respectively the preset weight factors of the vital sign assessment index, number of limb movements, and number of eye movements, ε1 > 0, ε2 > 0, ε3 > 0, ε1 + ε2 = 1, and M is the preset standard mental recovery assessment index.

[0031] It should be noted that the standard parameter A′ is the threshold of the vital sign assessment index for normal postoperative patients. When the vital sign assessment index of a patient is greater than A′, it indicates that the patient's vital signs are normal after surgery, and postoperative ankle pump exercises can be performed. The specific parameters are set by the staff. For example, A′ is 1.6. At the same time, ε1, ε2, and ε3 are set by the data-driven method: collect the vital sign assessment indices, limb movement counts, eye movement counts, and final recovery times of a large number of patients undergoing the same type of surgery, and use multiple linear regression to analyze the relationship between each data and the recovery outcome. The staff sets specific values according to the influence degree of each data on the recovery outcome. For example, ε1 is 0.3, ε2 is 0.3, and ε3 is 0.4. The setting processes of the standard parameters a′, B′, b′, D′, d′, and M are the same as that of the standard parameter A′. For example, a′ is 0.5, B′ is 5, b′ is 0.21, D′ is 10, d′ is 0.3, and M is 1.2.

[0032] The postoperative ankle pump exercise module is used to set the postoperative ankle pump basic exercise plan according to the robot activity prompt plan, and at the same time collect the postoperative ankle pump basic exercise data of the patient. Based on the ankle pump exercise model, analyze the postoperative ankle pump basic exercise data of the patient, and set the patient's ankle pump rehabilitation exercise plan according to the analysis results.

[0033] In a specific embodiment, the process of setting the postoperative ankle pump basic exercise plan is as follows: record the postoperative start time point and the time point when postoperative ankle pump exercises can be performed to obtain the basic recovery duration, and obtain the postoperative ankle pump basic exercise plan corresponding to each basic recovery duration from the database, so as to obtain the postoperative ankle pump basic exercise plan of the patient.

[0034] In a specific embodiment, the process of collecting the postoperative ankle pump basic exercise data of the patient is as follows: the postoperative ankle pump basic exercise data of the patient includes the exercise amount assessment index, exercise amount assessment index deviation rate, action accuracy assessment index, and action accuracy assessment index deviation rate after the patient's surgery.

[0035] Obtain the duration and distance of each postoperative movement of the patient within a preset duration from the patient's video through machine vision calculation. Obtain the total postoperative movement duration and total movement distance of the patient within the preset duration through statistics. At the same time, obtain the maximum movement duration and maximum movement distance of the patient after surgery within the preset duration. Obtain the total movement duration interval, total movement distance interval, maximum movement duration interval, and maximum movement distance interval corresponding to each exercise amount evaluation index from the database. If the total postoperative movement duration, total movement distance, maximum movement duration, and maximum movement distance of the patient within the preset duration all belong to the corresponding intervals of a certain exercise amount evaluation index, it indicates that the exercise amount evaluation index of the patient after surgery is this exercise amount evaluation index. In this way, obtain the exercise amount evaluation index of the patient after surgery, and thus obtain the exercise amount evaluation index of each analysis within the preset analysis duration of the patient. Calculate the average value to obtain the average exercise amount evaluation index of the patient within the preset analysis duration. At the same time, obtain the maximum exercise amount evaluation index and minimum exercise amount evaluation index from the exercise amount evaluation indices of each analysis within the preset analysis duration of the patient. Divide the difference between the maximum exercise amount evaluation index and the average exercise amount evaluation index within the preset analysis duration of the patient by the difference between the maximum exercise amount evaluation index and the minimum exercise amount evaluation index to obtain the deviation rate of the patient's exercise amount evaluation index. In this way, obtain the exercise amount evaluation index and the deviation rate of the exercise amount evaluation index of the patient after surgery.

[0036] Obtain the completion rate and accuracy rate of the patient's basic ankle pump movement after surgery from the patient's video through machine vision calculation. Obtain the completion rate interval and accuracy rate interval corresponding to each action precision evaluation index from the database. According to the matching method of the exercise amount evaluation index, match the completion rate and accuracy rate of the patient's basic ankle pump movement after surgery to obtain the action precision evaluation index of the patient. In this way, obtain the action precision evaluation index of each analysis within the preset analysis duration of the patient. According to the analysis method of the deviation rate of the exercise amount evaluation index, analyze the action precision evaluation indices of each analysis within the preset analysis duration of the patient to obtain the deviation rate of the patient's action precision evaluation index. In this way, obtain the action precision evaluation index and the deviation rate of the action precision evaluation index of the patient.

[0037] It should be noted that the analysis process of the completion rate and accuracy rate is as follows: A set of ankle pump basic movements is divided into each basic action, and the preset positions of each basic action are calibrated. It is judged by machine vision whether the actual positions of the patient's each basic action are consistent with the preset positions of each basic action. If the actual position of a certain basic action is consistent with the preset position, this action is recorded as a completed action. In this way, the patient obtains each completed action of a set of ankle pump basic movements, and the number of completed actions of a set of ankle pump basic movements of the patient is counted. The number of completed actions of a set of ankle pump basic movements of the patient is divided by the total number of actions to obtain the completion rate of a set of ankle pump basic movements. A basic movement is divided into each detailed action, and each detailed completed action of the target basic movement is obtained through machine vision. The number of detailed completed actions of the patient's target basic action is counted. The number of detailed completed actions of the patient's target basic action is divided by the total amount of detailed actions to obtain the completion rate of the target basic action. If the completion rate of the target basic action is greater than the preset completion rate, it indicates that the target basic action is an accurate action. In this way, each accurate action of a set of ankle pump basic movements of the patient is obtained, and the number of accurate actions of a set of ankle pump basic movements of the patient is counted. The number of accurate actions of a set of ankle pump basic movements of the patient is divided by the total number of actions to obtain the accuracy rate of a set of ankle pump basic movements.

[0038] In a specific embodiment, the analysis of the postoperative ankle pump basic movement data of the patient is as follows: The postoperative exercise amount evaluation index, the exercise amount evaluation index deviation rate, the action precision evaluation index, and the action precision evaluation index deviation rate of the patient are input into the ankle pump exercise model to obtain the output result of the patient. The value r of the output result is the basic exercise level of the patient, r = 1, 2......s, s > 2, and s is the maximum basic exercise level.

[0039] The predicted exercise difficulty index of each ankle pump rehabilitation exercise plan, the standard exercise difficulty index of the postoperative ankle pump basic exercise plan, and the basic exercise correction factor corresponding to each basic exercise level are obtained from the database. In this way, the basic exercise correction factor and the standard exercise difficulty index of the patient are obtained. The basic exercise correction factor of the patient is multiplied by the standard exercise difficulty index to obtain the actual exercise difficulty index of the patient. The difference between the actual exercise difficulty index of the patient and the predicted exercise difficulty index of each ankle pump rehabilitation exercise plan is calculated to obtain the predicted exercise difficulty index difference of each ankle pump rehabilitation exercise plan of the patient. The ankle pump rehabilitation exercise plan with the smallest predicted exercise difficulty index difference is selected as the ankle pump rehabilitation exercise plan of the patient. In this way, the ankle pump rehabilitation exercise plan of the patient is obtained.

[0040] In a specific embodiment, the expression of the ankle pump exercise model is:

[0041]

[0042] , where β is the output result, E, e, F, and f are respectively the exercise volume evaluation index, the deviation rate of the exercise volume evaluation index, the movement precision evaluation index, and the deviation rate of the movement precision evaluation index after the patient's operation, E′, e′, F′, and f′ are respectively the preset standard exercise volume evaluation index, the standard deviation rate of the exercise volume evaluation index, the standard movement precision evaluation index, and the standard deviation rate of the movement precision evaluation index, φ1 and φ2 are respectively the weight factor of the exercise volume and the weight factor of the exercise frequency, φ1 > 0, φ2 > 0, φ1 + φ2 = 1, N r-1 , N r , N1 and N s-1 are respectively the preset r - 1 ankle pump exercise feasibility evaluation index, the rth ankle pump exercise feasibility evaluation index, the first ankle pump exercise feasibility evaluation index, and the s - 1 ankle pump exercise feasibility evaluation index.

[0043] It should be noted that the setting process of the standard parameters E′, e′, F′, f′, N r-1 , N r , N1 and N s-1 is the same as the setting process of the standard parameter A′. For example, E′ is 0.6, e′ is 0.2, F′ is 0.8, f′ is 0.26, N r-1 is 0.89, N r is 0.92, N1 is 0.18 and N s-1 is 1.23. The setting process of the weight factors φ1 and φ2 is the same as the setting process of the weight factor ε1. For example, φ1 is 0.35 and φ2 is 0.65.

[0044] The postoperative rehabilitation assistance module is used to collect the current patient's rehabilitation data according to the patient's ankle pump rehabilitation exercise plan, analyze the current patient's rehabilitation data based on the patient's rehabilitation model, judge whether the patient can get out of bed and exercise according to the result. If the patient can get out of bed and exercise, conduct a demonstration of rehabilitation exercise under the bed, and at the same time collect the patient's rehabilitation exercise data under the bed, analyze the patient's rehabilitation activity exercise data based on the rehabilitation exercise model, and set a change plan for the rehabilitation exercise under the bed according to the analysis result.

[0045] In a specific embodiment, the collection of the current patient's rehabilitation data is as follows: The current patient's rehabilitation data includes the patient's gastrointestinal function recovery index, wound recovery index, the first completion rate of the ankle pump basic exercise plan, the current completion rate of the ankle pump rehabilitation exercise plan, and the number of times the ankle pump rehabilitation exercise plan is used.

[0046] Collect the number of anal exhausts, exhaust time, number of bowel sounds, and bowel sound pitch of the patient through a sound sensor. Obtain the intervals of the number of anal exhausts, exhaust time, number of bowel sounds, and bowel sound pitch corresponding to each gastrointestinal function recovery index from the database. According to the matching method of the exercise amount assessment index, match the number of anal exhausts, exhaust time, number of bowel sounds, and bowel sound pitch of the patient to obtain the patient's gastrointestinal function recovery index. Collect the patient's wound pictures through a camera, obtain the colors of each wound area of the patient from the patient's wound pictures through pattern recognition technology, obtain the color intervals of each wound area corresponding to each wound recovery index from the database, and match the colors of each wound area of the patient according to the matching method of the exercise amount assessment index to obtain the wound recovery index. At the same time, obtain the first completion rate of the ankle pump basic exercise plan, the current completion rate of the ankle pump rehabilitation exercise plan, and the number of times the ankle pump rehabilitation exercise plan is used from the patient's video through machine vision.

[0047] In a specific embodiment, the analysis of the current patient's rehabilitation data is as follows: Input the patient's gastrointestinal function recovery index, wound recovery index, first completion rate of the ankle pump basic exercise plan, current completion rate of the ankle pump rehabilitation exercise plan, and the number of times the ankle pump rehabilitation exercise plan is used into the patient rehabilitation model to obtain the output result of the patient. The value of the output result includes 0 and 1.

[0048] If the output result of the current patient is 0, it indicates that the current patient cannot get out of bed. If the output result of the current patient is 1, it indicates that the current patient can get out of bed for rehabilitation exercises.

[0049] In a specific embodiment, the expression of the patient rehabilitation model is:

[0050]

[0051] , where γ is the output result of the patient, H, G, h, g, and j are the patient's gastrointestinal function recovery index, wound recovery index, first completion rate of the ankle pump basic exercise plan, current completion rate of the ankle pump rehabilitation exercise plan, and the number of times the ankle pump rehabilitation exercise plan is used respectively, and H′, G′, h′, g′, and j′ are the preset standard gastrointestinal function recovery index, standard wound recovery index, standard first completion rate of the ankle pump basic exercise plan, standard current completion rate of the ankle pump rehabilitation exercise plan, and standard number of times the ankle pump rehabilitation exercise plan is used. and are the preset weight factors of the gastrointestinal function recovery index and the weight factor of the wound recovery index respectively. δ1, δ2, and δ3 are the weight factors of the first completion rate of the preset ankle pump basic exercise program, the weight factor of the current completion rate of the ankle pump rehabilitation exercise program, and the weight factor of the usage times of the ankle pump rehabilitation exercise program respectively. δ1 > 0, δ2 > 0, δ3 > 0, and δ1 + δ2 + δ3 = 1. J is the preset standard patient rehabilitation evaluation index.

[0052] It should be noted that the setting process of the standard parameters H′, G′, h′, g′, j′, and J is the same as that of the standard parameter A′. For example, H′ is 1.2, G′ is 1.8, h′ is 0.7, g′ is 0.8, j′ is 9, and J is 1.1, and the weight factors The setting process of δ1, δ2, and δ3 is the same as that of the weight factor ε1. For example is 0.4, is 0.6, δ1 is 0.25, δ2 is 0.35, and δ3 is 0.4.

[0053] In a specific embodiment, the process of collecting the patient's out-of-bed rehabilitation exercise data is as follows: The patient's rehabilitation activity exercise data includes the patient's out-of-bed rehabilitation exercise rate, out-of-bed rehabilitation exercise duration, out-of-bed rehabilitation exercise frequency, rehabilitation exercise completion rate, and rehabilitation exercise accuracy rate. The patient's out-of-bed duration, out-of-bed rehabilitation exercise duration, out-of-bed rehabilitation exercise times, rehabilitation exercise completion rate, and rehabilitation exercise accuracy rate are collected from the patient's video through machine vision. The patient's out-of-bed rehabilitation exercise rate is obtained by dividing the patient's out-of-bed rehabilitation exercise duration by the out-of-bed duration, and the out-of-bed rehabilitation exercise frequency is obtained by dividing the patient's out-of-bed rehabilitation exercise times by the out-of-bed rehabilitation exercise duration.

[0054] In a specific embodiment, the process of analyzing the patient's rehabilitation activity exercise data is as follows: The patient's out-of-bed rehabilitation exercise rate, out-of-bed rehabilitation exercise duration, out-of-bed rehabilitation exercise frequency, rehabilitation exercise completion rate, and rehabilitation exercise accuracy rate are input into the rehabilitation exercise model to obtain the patient's output result. The numerical values of the output result include 0, 1, 2, and 3.

[0055] If the patient's output result is 0, it is prompted that the patient should reduce the number of out-of-bed activities. If the patient's output result is 1, it is prompted that the patient should increase the number of out-of-bed activities. If the patient's output result is 2, the rehabilitation action groups of each intensity are obtained from the database, and the current rehabilitation action group is changed to the adjacent and lower-intensity out-of-bed rehabilitation action group and demonstrated to the patient. If the patient's output result is 3, the current rehabilitation action group is changed to the adjacent and higher-intensity out-of-bed rehabilitation action and demonstrated to the patient.

[0056] In a specific embodiment, the expression of the rehabilitation exercise model is:

[0057]

[0058] , where C is the output result of the patient, K, L, T, W, and V are the out-of-bed rehabilitation exercise rate, out-of-bed rehabilitation exercise duration, out-of-bed rehabilitation exercise frequency, rehabilitation exercise completion rate, and rehabilitation exercise accuracy rate of the patient respectively, K′, L′, T′, W′, and V′ are the preset standard out-of-bed rehabilitation exercise rate, standard out-of-bed rehabilitation exercise duration, standard out-of-bed rehabilitation exercise frequency, standard rehabilitation exercise completion rate, and standard rehabilitation exercise accuracy rate respectively, η1 and η2 are the weight factors of the preset out-of-bed rehabilitation exercise duration and out-of-bed rehabilitation exercise frequency respectively, η1 > 0, η2 > 0, η1 + η2 = 1, λ1 and λ2 are the weight factors of the preset out-of-bed rehabilitation exercise rate and rehabilitation exercise completion rate respectively, λ1 > 0, λ2 > 0, λ1, and are the weight factors of the preset rehabilitation exercise completion rate and rehabilitation exercise accuracy rate respectively, P is the preset standard rehabilitation exercise frequency evaluation index, and Q is the preset rehabilitation exercise intensity evaluation index.

[0059] It should be noted that the setting process of the standard parameters K, L, T, W, V, P, and Q is the same as that of the standard parameter A′. For example, K is 0.5, L is 2.1, T is 0.4, W is 0.7, V is 0.8, P is 1.13, and Q is 1.06. The setting process of the weight factors η1, η2, λ1, λ2, and is the same as that of the weight factor ε1. For example, η1 is 0.3, η2 is 0.7, λ1 is 0.45, λ2 is 0.55, is 0.65 and is 0.35.

[0060] A database for storing the predicted exercise difficulty index of each ankle pump rehabilitation exercise program, the standard exercise difficulty index of the postoperative ankle pump basic exercise program, the basic exercise correction factors corresponding to each basic exercise level, rehabilitation action groups of each intensity, heart rate intervals corresponding to each vital sign assessment index, blood pressure intervals corresponding to each vital sign assessment index, body temperature intervals corresponding to each vital sign assessment index, respiratory rate intervals corresponding to each vital sign assessment index, blood oxygen saturation intervals corresponding to each vital sign assessment index, total exercise duration intervals corresponding to each exercise volume assessment index, total exercise distance intervals corresponding to each exercise volume assessment index, maximum exercise duration intervals corresponding to each exercise volume assessment index, maximum exercise distance intervals corresponding to each exercise volume assessment index, completion rate intervals corresponding to each action accuracy assessment index, accuracy rate intervals corresponding to each action accuracy assessment index, the number of anal exhaust intervals corresponding to each gastrointestinal function recovery index, the exhaust time intervals corresponding to each gastrointestinal function recovery index, the number of bowel sounds intervals corresponding to each gastrointestinal function recovery index, the bowel sound tone intervals corresponding to each gastrointestinal function recovery index, and the color intervals of each wound area corresponding to each wound recovery index.

[0061] The above content is only an example and illustration of the concept of the present invention. Those skilled in the art of the present technology can make various modifications, supplements, or use similar methods to replace the specific embodiments described, as long as they do not deviate from the concept of the invention or exceed the scope defined by this specification, they should all fall within the protection scope of the present invention.

Claims

1. A robot for abdominal postoperative rehabilitation exercise, comprising a robot body and a robot control system for controlling the robot body, characterized in that: The robot control system comprises: The postoperative activity prompt module is used to collect the patient's postoperative physical data, analyze the patient's postoperative physical data based on the mental recovery model, and set the robot activity prompt plan according to the analysis results; The postoperative ankle pump exercise module is used to set the postoperative ankle pump basic exercise plan according to the robot activity prompt plan, collect the patient's postoperative ankle pump basic exercise data, analyze the patient's postoperative ankle pump basic exercise data based on the ankle pump exercise model, and set the patient's ankle pump rehabilitation exercise plan according to the analysis results; The postoperative rehabilitation assistance module is used to collect the current patient rehabilitation data according to the patient's ankle pump rehabilitation exercise plan, analyze the current patient rehabilitation data based on the patient's rehabilitation model, and determine whether the patient is able to get out of bed and exercise based on the results. If the patient can get out of bed and exercise, demonstrate off-bed rehabilitation exercises. At the same time, the patient's off-bed rehabilitation exercise data is collected, and the patient's rehabilitation activity exercise data is analyzed based on the rehabilitation exercise model. According to the analysis results, the off-bed rehabilitation exercise change plan is set.

2. A robot for abdominal postoperative rehabilitation exercises according to claim 1, characterized in that: The patient's postoperative physical data is analyzed, and the specific analysis process is as follows: The postoperative physical data of the patient include the patient's vital sign assessment index, the fluctuation rate of the vital sign assessment index, the number of limb activities, the fluctuation rate of the number of limb activities, the number of eye activities, and the fluctuation rate of the number of eye activities. The patient's vital sign assessment index, the fluctuation rate of the vital sign assessment index, the number of limb activities, the fluctuation rate of the number of limb activities, the number of eye activities, and the fluctuation rate of the number of eye activities are input into the mental recovery model to obtain an output result, and the value of the output result includes 0 and 1; If the output result value is 0, it indicates that the current patient does not need to perform early postoperative activities. If the output result value is 1, it indicates that the current patient can perform ankle pump exercises after surgery. The robot will provide activity prompts, explain the purpose of ankle pump exercises to the patient, and prompt the patient to perform ankle pump exercises after surgery.

3. The robot for abdominal postoperative rehabilitation exercise according to claim 2, characterized in that: The mental recovery model expression is: Among them, α is the output result, A, a, B, b, D and d are the patient's vital signs assessment index, vital signs assessment index volatility, limb activity times, limb activity times volatility, eye activity times and eye activity times volatility, respectively; A′, a′, B′, b′, D′ and d′ are the preset standard vital signs assessment index, standard vital signs assessment index volatility, standard limb activity times, standard limb activity times volatility, standard eye activity times and standard eye activity times volatility, respectively; ε1, ε2 and ε3 are the preset weight factors of the vital signs assessment index, the weight factors of the limb activity times and the weight factors of the eye activity times, respectively; ε1>0, ε2>0, ε3>0, ε1+ε2=1, and M is the preset standard mental recovery assessment index.

4. The robot for abdominal postoperative rehabilitation exercise according to claim 2, characterized in that: The patient's postoperative ankle pump basic movement data is analyzed, and the specific analysis process is as follows: The patient's postoperative ankle pump basic exercise data includes the patient's postoperative exercise volume assessment index, exercise volume assessment index deviation rate, movement precision assessment index and movement precision assessment index deviation rate. The patient's postoperative exercise volume assessment index, exercise volume assessment index deviation rate, movement precision assessment index and movement precision assessment index deviation rate are input into the ankle pump exercise model to obtain the patient's output result. The value r of the output result is the patient's basic exercise level. r=1,2......s, s>2, s is the maximum basic movement level; The predicted movement difficulty index of each ankle pump rehabilitation exercise program, the standard movement difficulty index of the postoperative ankle pump basic exercise program, and the basic movement correction factor corresponding to each basic exercise level are obtained from the database to obtain the patient's basic movement correction factor and standard movement difficulty index. The patient's basic movement correction factor is multiplied by the standard movement difficulty index to obtain the patient's actual movement difficulty index. The patient's actual movement difficulty index is calculated to differ from the predicted movement difficulty index of each ankle pump rehabilitation exercise program to obtain the difference in the predicted movement difficulty index of each ankle pump rehabilitation exercise program for the patient. The ankle pump rehabilitation exercise program with the smallest difference in the predicted movement difficulty index is selected as the patient's ankle pump rehabilitation exercise program to obtain the patient's ankle pump rehabilitation exercise program.

5. The robot for abdominal postoperative rehabilitation exercise according to claim 4, characterized in that: The ankle pump motion model expression is: Among them, β is the output result, E, e, F and f are the patient's postoperative exercise volume assessment index, exercise volume assessment index deviation rate, movement precision assessment index and movement precision assessment index deviation rate, respectively, E′, e′, F′ and f′ are the preset standard exercise volume assessment index, standard exercise volume assessment index deviation rate, standard movement precision assessment index and standard movement precision assessment index deviation rate, respectively, φ1 and φ2 are the weight factors of exercise volume and exercise frequency, respectively, φ1>0, φ2>0, φ1+φ2=1, N r-1 、N r , N1 and N s-1 They are the preset r-1th ankle pump movement feasibility assessment index, the rth ankle pump movement feasibility assessment index, the 1st ankle pump movement feasibility assessment index and the s-1th ankle pump movement feasibility assessment index respectively.

6. The robot for abdominal postoperative rehabilitation exercise according to claim 4, characterized in that: The current patient rehabilitation data is analyzed, and the specific analysis process is as follows: The patient rehabilitation data includes the patient's gastrointestinal function recovery index, wound recovery index, first completion rate of ankle pump basic exercise program, current completion rate of ankle pump rehabilitation exercise program and number of times the ankle pump rehabilitation exercise program is used. The patient's gastrointestinal function recovery index, wound recovery index, first completion rate of ankle pump basic exercise program, current completion rate of ankle pump rehabilitation exercise program and number of times the ankle pump rehabilitation exercise program is used are input into the patient rehabilitation model to obtain the patient's output result, and the output result value includes 0 and 1; If the output result of the current patient is 0, it indicates that the current patient cannot get out of bed. If the output result of the current patient is 1, it indicates that the current patient can get out of bed for rehabilitation exercises.

7. The robot for abdominal postoperative rehabilitation exercise according to claim 6, characterized in that: The patient rehabilitation model expression is: Among them, γ is the output result of the patient, H, G, h, g and j are the patient's gastrointestinal function recovery index, wound recovery index, first completion rate of ankle pump basic exercise program, current completion rate of ankle pump rehabilitation exercise program and number of times the ankle pump rehabilitation exercise program is used, respectively; H′, G′, h′, g′ and j′ are the preset standard gastrointestinal function recovery index, standard wound recovery index, first completion rate of standard ankle pump basic exercise program, current completion rate of standard ankle pump rehabilitation exercise program and number of times the standard ankle pump rehabilitation exercise program is used, and are the preset weight factors of gastrointestinal function recovery index and wound recovery index, respectively. δ1, δ2 and δ3 are the weight factors of the first completion rate of the preset ankle pump basic exercise program, the weight factor of the completion rate of the current ankle pump rehabilitation exercise program and the weight factor of the number of times the ankle pump rehabilitation exercise program is used, respectively. δ1>0, δ2>0, δ3>0, δ1+δ2+δ3=1, and J is the preset standard patient rehabilitation assessment index.

8. The robot for abdominal postoperative rehabilitation exercise according to claim 6, characterized in that: The specific analysis process of analyzing the patient's rehabilitation activity data is as follows: The patient's rehabilitation activity movement data includes the patient's getting out of bed rehabilitation movement rate, getting out of bed rehabilitation movement duration, getting out of bed rehabilitation movement frequency, rehabilitation movement completion rate and rehabilitation movement accuracy. The patient's getting out of bed rehabilitation movement rate, getting out of bed rehabilitation movement duration, getting out of bed rehabilitation movement frequency, rehabilitation movement completion rate and rehabilitation movement accuracy are input into the rehabilitation movement model to obtain the patient's output result, and the output result value includes 0, 1, 2 and 3; If the patient's output result is 0, the patient is prompted to reduce the number of times he or she gets out of bed; if the patient's output result is 1, the patient is prompted to increase the number of times he or she gets out of bed; if the patient's output result is 2, rehabilitation action groups of various intensities are obtained from the database, and the current rehabilitation action group is changed to an off-bed rehabilitation action group with adjacent and lower intensity, and the action is demonstrated to the patient; if the patient's output result is 3, the current rehabilitation action group is changed to an off-bed rehabilitation action group with adjacent and higher intensity, and the action is demonstrated to the patient, so as to obtain a change plan for off-bed rehabilitation exercises.

9. The robot for abdominal postoperative rehabilitation exercise according to claim 8, characterized in that: The rehabilitation exercise model expression is: Among them, C is the output result of the patient, K, L, T, W and V are the patient's getting out of bed rehabilitation exercise rate, getting out of bed rehabilitation exercise duration, getting out of bed rehabilitation exercise frequency, rehabilitation exercise completion rate and rehabilitation exercise accuracy, respectively, K′, L′, T′, W′ and V′ are the preset standard getting out of bed rehabilitation exercise rate, standard getting out of bed rehabilitation exercise duration, standard getting out of bed rehabilitation exercise frequency, standard rehabilitation exercise completion rate and standard rehabilitation exercise accuracy, respectively, η1 and η2 are the preset weight factors of the getting out of bed rehabilitation exercise duration and the weight factors of the getting out of bed rehabilitation exercise frequency, η1>0, η2>0, η1+η2=1, λ1 and λ2 are the preset weight factors of the getting out of bed rehabilitation exercise rate and the weight factors of the rehabilitation exercise completion rate, respectively, λ1>0, λ2>0, λ1, and are the preset weight factors of the rehabilitation exercise completion rate and the rehabilitation exercise accuracy rate, respectively. P is the preset standard rehabilitation exercise frequency assessment index, and Q is the preset rehabilitation exercise intensity assessment index.

10. The robot for abdominal postoperative rehabilitation exercise according to claim 1, characterized in that: The database is used to store the predicted exercise difficulty index of each ankle pump rehabilitation exercise program, the standard exercise difficulty index of the postoperative ankle pump basic exercise program, the basic exercise correction factor corresponding to each basic exercise level, and the rehabilitation action group of each intensity.

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