Multifunctional rehabilitation exercise device for severe illness in neurosurgery department

Abstract

The invention discloses a multifunctional rehabilitation exercise device for neurosurgical severe illness, relates to the technical field of rehabilitation exercise equipment, and provides the following scheme that the multifunctional rehabilitation exercise device comprises an upper limb auxiliary exercise mechanism, and the bottom surface of the upper limb auxiliary exercise mechanism is connected with a thigh limb auxiliary exercise mechanism; the bottom end of the thigh limb auxiliary exercise mechanism is connected with two shank limb auxiliary exercise mechanisms, and the rear sides of the upper limb auxiliary exercise mechanism, the thigh limb auxiliary exercise mechanism and the shank limb auxiliary exercise mechanisms are provided with migration walking mechanisms. The exoskeleton jacket meeting the requirement for simultaneous exercise of the upper limbs, the lower limbs or other parts of a patient is arranged, and different-degree auxiliary exercise is conducted on different parts according to needs. And the walking mechanism is arranged on the rear side of the exoskeleton jacket, so that the patient can move while exercising, and the activity range of the patient in the exercising period is expanded.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation exercise equipment, and particularly relates to a multifunctional rehabilitation exercise device for neurosurgical intensive care. Background Art

[0002] Neurosurgical intensive care patients (such as those with craniocerebral injury, stroke, after brain tumor surgery, etc.) often suffer from severe motor function disorders, manifested as abnormal muscle tone, limb paralysis, ataxia, etc., and early intervention in rehabilitation training is required to prevent muscle atrophy, joint contracture, and neural plasticity decline.

[0003] However, some existing devices can only perform single-site or single-form exercises, such as only being able to exercise the lower limbs or only providing passive leg movements, and cannot simultaneously meet the comprehensive exercise needs of the upper limbs, lower limbs, and other parts of the patient. Moreover, some existing rehabilitation exercise devices are large in volume and heavy in weight, inconvenient to move and carry, restricting their usage scenarios and can only be used in fixed rehabilitation places. Therefore, in combination with the above-mentioned defects of the rehabilitation exercise device for neurosurgical intensive care, those skilled in the art hereby propose a solution for a multifunctional rehabilitation exercise device for neurosurgical intensive care to solve the problem. Summary of the Invention

[0004] A technical solution content for a multifunctional rehabilitation exercise device for neurosurgical intensive care is provided to address the defects proposed in the above background art.

[0005] It includes an upper limb auxiliary exercise mechanism, the bottom surface of the upper limb auxiliary exercise mechanism is connected to a thigh limb auxiliary exercise mechanism, the bottom end of the thigh limb auxiliary exercise mechanism is connected to two calf limb auxiliary exercise mechanisms, and a transfer walking mechanism is arranged at the rear of the upper limb auxiliary exercise mechanism, the thigh limb auxiliary exercise mechanism, and the calf limb auxiliary exercise mechanism;

[0006] The upper limb auxiliary exercise mechanism includes a backrest, scapular frames fixedly connected to the left and right sides of the backrest, and two large arm support plates hinged to the ends of the scapular frames. The ends of the large arm support plates far from the scapular frames are respectively hinged to small arm support plates. Electric push rods are hinged to the bottom surfaces of the large arm support plates, and the end of the telescopic shaft of the electric push rod is hinged to the rear end of the small arm support plate. The bottom end surface of the backrest is fixedly connected to a coccyx backplate, and a chest frame is arranged at the front of the backrest;

[0007] The thigh limb auxiliary exercise mechanism includes a hip backrest, two thigh support plates hinged to the left and right ends of the hip backrest, and a servo electric cylinder hinged to the top of the rear side of the thigh support plate;

[0008] The calf limb auxiliary exercise mechanism includes two calf support rods, an L-shaped movable plate rotatably connected to the bottom ends of the calf support rods, and a servo telescopic rod hinged to the rear side of the upper surface of the L-shaped movable plate;

[0009] The migration walking mechanism includes a bottom plate, a soft seat fixedly connected to the top surface of the bottom plate, and four servo programmable motors fixedly connected to the four corners of the bottom of the bottom plate, and the output shafts of the servo programmable motors are connected with Mecanum wheels through couplings.

[0010] In the technical solution of the above-mentioned multifunctional rehabilitation exercise device for neurosurgical intensive care, preferably: a layer of sponge pads are adhesively fixed on the front end faces of the backrest and the chest frame, and two elastic bands penetrate and connect the middle positions on the left and right sides of the backrest and the middle positions on the left and right sides of the chest frame, for making the sides of the chest frame and the backrest close to each other contact with the front chest and the back of the human body.

[0011] In the technical solution of the above-mentioned multifunctional rehabilitation exercise device for neurosurgical intensive care, preferably: a layer of silica gel pad is adhesively fixed on the front end face of the coccyx back plate, and the front end face of the coccyx back plate contacts the lumbar spine position of the human body.

[0012] In the technical solution of the above-mentioned multifunctional rehabilitation exercise device for neurosurgical intensive care, preferably: rotating shafts are fixedly connected to the ends of the scapular frames far from the backrest and inserted into the rear sections of the upper arm support plates, so that the upper arm support plates are rotatably connected along the axes of the rotating shafts, a convex block is fixed in the inner cavity of the upper arm support plate, and the rear end of the electric push rod is rotatably connected to the bottom end of the convex block through a shaft pin.

[0013] In the technical solution of the above-mentioned multifunctional rehabilitation exercise device for neurosurgical intensive care, preferably: a turntable is rotatably connected to the front side of the inner cavity of the upper arm support plate through a shaft pin, the rear end of the lower arm support plate is fixedly connected to the front end of the turntable, and a plurality of elastic cloth belts are fixed on the inner side walls of the upper arm support plate and the lower arm support plate for connecting with the upper arm and the lower arm of the human body.

[0014] In the technical solution of the above-mentioned multifunctional rehabilitation exercise device for neurosurgical intensive care, preferably: the top end face of the hip backrest is fixedly connected to the lower surface of the coccyx back plate, and the hip backrest is integrally C-shaped for conforming to the shapes of the human hip and pelvis.

[0015] In the technical solution of the above-mentioned multifunctional rehabilitation exercise device for neurosurgical intensive care, preferably: the end of the telescopic shaft of the servo electric cylinder is hinged to the rear side of the top end of the calf support rod.

[0016] In the technical solution of the above-mentioned multi-functional rehabilitation exercise device for neurosurgical intensive care, preferably: the top end of the calf support rod is inserted into the bottom area of the inner cavity of the thigh support plate, and a pin for rotation penetrates through the overlapping position of the top end of the calf support rod and the inner cavity of the thigh support plate.

[0017] In the technical solution of the above-mentioned multi-functional rehabilitation exercise device for neurosurgical intensive care, preferably: pulling plates are fixedly arranged on the inner side side walls of the calf support rods, the top end of the servo telescopic rod is hinged to the bottom surface of the pulling plate, and several canvas belts are fixedly arranged on the inner sides of the calf support rods, the L-shaped movable plates and the thigh support plates for connecting with the thighs, calves and ankles of the human body.

[0018] In the technical solution of the above-mentioned multi-functional rehabilitation exercise device for neurosurgical intensive care, preferably: a battery and a control main board for controlling the servo programmable motor are fixedly connected in the bottom inner cavity of the bottom plate.

[0019] It can be seen from the above technical solutions that the present invention provides a multi-functional rehabilitation exercise device for neurosurgical intensive care. Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present invention is provided with an exoskeleton jacket that can meet the simultaneous exercise of the upper limbs, lower limbs or other parts of the patient, and perform different degrees of assisted exercise on different parts according to needs. And a walking mechanism is arranged at the rear of the exoskeleton jacket, enabling the patient to move while exercising and expanding the activity range of the patient during the exercise. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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 and explain the drawings required for describing the embodiments of the present invention or the prior art. Obviously, the following drawings are only partial embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0022] Figure 1 It is a schematic diagram of the overall structure of the upper and lower limb rehabilitation exercise structure;

[0023] Figure 2 It is a schematic diagram of the upper limb assisted exercise mechanism;

[0024] Figure 3 It is a schematic diagram of the thigh limb assisted exercise mechanism;

[0025] Figure 4 It is a schematic diagram of the calf limb assisted exercise mechanism;

[0026] Figure 5 It is a schematic diagram of the migration walking mechanism;

[0027] Figure 6 It is a schematic diagram of the drive wheel assembly in the transfer walking mechanism.

[0028] Appendix Figure 1 - Appendix Figure 6 The corresponding relationships of the components among them are as follows:

[0029] 1. Upper limb auxiliary exercise mechanism; 11. Backrest; 12. Shoulder frame; 13. Bump; 14. Big arm support plate; 15. Turntable; 16. Small arm support plate; 17. Electric push rod; 18. Chest frame; 19. Coccyx backplate; 2. Thigh limb auxiliary exercise mechanism; 21. Hip backrest; 22. Thigh support plate; 23. Servo electric cylinder; 3. Calf limb auxiliary exercise mechanism; 31. Calf support rod; 32. L-shaped movable plate; 33. Servo telescopic rod; 4. Transfer walking mechanism; 41. Bottom plate; 42. Soft seat; 43. Servo programmable motor; 44. Mecanum wheel. Detailed implementation manners

[0030] 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 following described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0031] In order to more clearly explain and illustrate the technical solutions and implementation manners of the present invention, the following introduces the preferred specific embodiments for implementing the technical solutions of the present invention.

[0032] A multifunctional rehabilitation exercise device for neurosurgical intensive care consists of four parts: an upper limb auxiliary exercise mechanism 1, a thigh limb auxiliary exercise mechanism 2, a calf limb auxiliary exercise mechanism 3, and a transfer walking mechanism 4.

[0033] In the upper limb auxiliary exercise mechanism 1, the back frame 11 is welded and formed by medical stainless steel rectangular tubes, and the front side is connected to the chest frame 18 by a hinge. The surfaces of both are covered with 20mm thick memory foam pads (fixed by medical silicone adhesive). Two elastic cross straps are arranged between the chest frame 18 and the back frame 11, and quick adjustment is achieved by buckles. The left and right shoulder blade frames 12 are made of carbon fiber composite materials and are connected to the back frame 11 by a damping shaft, which can adapt to different shoulder widths. A pressure sensor is integrated at the end of each shoulder blade frame to monitor the shoulder contact force in real time. The upper arm support plate 14 is connected to the shoulder blade frame 12 by a deep groove ball bearing, and its inner cavity protrusion 13 fixes the rear end of the electric push rod 17. The electric push rod adopts a two-level telescopic structure and receives control signals through the CAN bus; the turntable 15 is made of nylon and has anti-slip patterns on the surface. The forearm support plate 16 is fixed to the patient's forearm by an elastic cloth belt, and the cloth belt is equipped with a quick-release buckle.

[0034] In the thigh limb auxiliary training mechanism 2, the hip back frame 21 adopts an ergonomic C-shaped design, and the surface is covered with breathable mesh. It is rigidly connected to the coccyx back plate 19 by 8 groups of M8 bolts, and a rubber shock-absorbing pad is arranged on the contact surface. The thigh support plate 22 is die-casted from aluminum alloy, and a self-lubricating bearing is arranged at the rotating shaft. The servo electric cylinder 23 is hinged to the thigh support plate 22 through a fisheye bearing, and the controller presets three movement modes (passive flexion and extension / assisted exercise / resistance training).

[0035] In the calf limb auxiliary training mechanism 3, the calf support rod 31 is made of carbon fiber tube, and the top end is connected to the thigh support plate 22 through a joint bearing. The L-shaped movable plate 32 is made of ABS injection molding, and the surface is provided with anti-slip texture. The servo telescopic rod 33 is connected to the traction plate through a ball joint, and the traction plate is equipped with a three-dimensional adjustable slide rail. The canvas belt system includes an ankle fixing strap and a calf strap, both of which are closed with Velcro.

[0036] The bottom plate 41 in the migration walking mechanism 4 adopts an aluminum alloy honeycomb panel structure with an anodized surface. The soft seat 42 adopts slow-rebound memory foam with an adjustable seat inclination. Four servo programmable motors 43 drive the Mecanum wheels 44 through planetary reducers. The control system integrates gyroscopes and ultrasonic sensors to support omnidirectional movement and automatic obstacle avoidance. The migration walking mechanism 4 has a built-in lithium-ion battery pack and is equipped with an intelligent charging management system.

[0037] During upper limb training, the electric push rod 17 drives the small arm support plate 16 to complete a movement within the range of 0 - 180°, and cooperates with the elastic band of the chest frame 18 to achieve the switching between passive / active training modes. During lower limb training, the servo electric cylinder 23 and the servo telescopic rod 33 work together to control the movement trajectories of the hip joint and the knee joint through the PLC program. Among them, six-dimensional force sensors are configured for each joint to monitor the acting force in real time; the height of the back frame 11 is adjusted by a pneumatic spring and can adapt to heights ranging from 150 to 190 cm; the thigh / calf support rods are configured with telescopic locking mechanisms and surface treatments, and all metal contact surfaces are rounded; the contact surface of the strap is coated with antibacterial silicone.

[0038] The working process is as follows: The patient leans against the back frame 11 of the device, fixes the torso through the elastic band of the chest frame 18, adjusts and locks the shoulder frame 12 according to the shoulder width, fixes the lower limbs with the thigh support plate 22 and the calf support rod 31 through canvas straps, fixes the ankle with the pulling plate of the L-shaped movable plate 32 through Velcro straps. The medical staff inputs basic data such as the patient's height, weight, and rehabilitation stage through the touch screen, and the system automatically matches the preset training plan. At this time, the electric push rod 17 is at the minimum stroke, and the small arm support plate 16 and the large arm support plate 14 are at a natural drooping angle. The electric push rod 17 pushes the small arm support plate 16 according to the preset trajectory (such as a cycle from 0° to 90° to 0°), driving the patient's forearm to complete flexion and extension movements. The patient exerts force on their own to resist the resistance level of the electric push rod 17, and the sensor monitors the muscle strength change in real time.

[0039] The servo electric cylinder 23 pushes the thigh support plate 22 to complete flexion, simulating the leg-lifting action. The calf support rod 31 moves synchronously through the servo telescopic rod 33 to achieve flexion and extension of the knee joint. After the patient sits on the soft seat 42, the transfer walking mechanism 4 is activated, and the Mecanum wheels 44 drive the bottom plate 41 to move slowly. Ultrasonic sensors are set on the transfer walking mechanism 4 to scan the surrounding environment and plan the optimal path, thereby driving the patient to the destination selected through the touch screen.

[0040] The present invention is not limited to the above best implementation mode. Anyone should know that structural changes made under the inspiration of the present invention, as long as they have the same or similar technical solutions as the present invention, fall within the protection scope of the present invention. Finally, it should also be noted that the structures, proportions, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the implementation conditions that the present application can implement. Therefore, they do not have technical substance significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present application can produce and the purposes that can be achieved, should still fall within the scope that the technical content disclosed in the present application can cover.

Claims

1. A multifunctional rehabilitation exercise device for neurosurgical intensive care, comprising an upper limb assisted exercise mechanism (1), characterized in that: The bottom surface of the upper limb assisted exercise mechanism (1) is connected to the thigh limb assisted exercise mechanism (2). The bottom end of the thigh limb assisted exercise mechanism (2) is connected to two calf limb assisted exercise mechanisms (3). A migration walking mechanism (4) is arranged at the rear side of the upper limb assisted exercise mechanism (1), the thigh limb assisted exercise mechanism (2), and the calf limb assisted exercise mechanism (3). The upper limb assisted exercise mechanism (1) includes a backrest frame (11), scapular frames (12) fixedly connected to the left and right sides of the backrest frame (11), and two large arm support plates (14) hinged to the end heads of the scapular frames (12). Small arm support plates (16) are hinged to the ends of the large arm support plates (14) far from the scapular frames (12). Electric push rods (17) are hinged to the bottom surfaces of the large arm support plates (14). The end of the telescopic shaft of the electric push rod (17) is hinged to the rear end head of the small arm support plate (16). A coccyx back plate (19) is fixedly connected to the bottom end face of the backrest frame (11). A chest frame (18) is arranged at the front side of the backrest frame (11). The thigh limb assisted exercise mechanism (2) includes a hip backrest frame (21), two thigh support plates (22) hinged to the left and right ends of the hip backrest frame (21). A servo electric cylinder (23) is hinged to the top of the rear side of the thigh support plate (22). The calf limb assisted exercise mechanism (3) includes two calf support rods (31), an L-shaped movable plate (32) rotatably connected to the bottom end head of the calf support rod (31), and a servo telescopic rod (33) hinged to the rear side of the upper surface of the L-shaped movable plate (32). The migration walking mechanism (4) includes a bottom plate (41), a soft seat (42) fixedly connected to the top surface of the bottom plate (41), and four servo programmable motors (43) fixedly connected to the four corner positions of the bottom of the bottom plate (41). The output shaft of the servo programmable motor (43) is connected to a Mecanum wheel (44) through a coupling.

2. The multifunctional rehabilitation exercise device for neurosurgical intensive care according to claim 1, characterized in that: A layer of sponge pad is adhesively fixed to the front end faces of the backrest frame (11) and the chest frame (18). Two elastic bands penetrate and connect the middle positions on the left and right sides of the backrest frame (11) and the middle positions on the left and right sides of the chest frame (18), so that the sides of the chest frame (18) and the backrest frame (11) close to each other contact the front chest and back of the human body.

3. A multifunctional rehabilitation exercise device for neurosurgical intensive care according to claim 1, characterized in that: A layer of silica gel pad is adhesively fixed to the front end face of the coccyx back plate (19), and the front end face of the coccyx back plate (19) contacts the lumbar vertebra position of the human body.

4. A multifunctional rehabilitation exercise device for neurosurgical intensive care according to claim 1, characterized in that: Rotating shafts inserted into the rear sections of the large arm support plates (14) are fixedly connected to the ends of the scapular frames (12) far from the backrest frame (11), so that the large arm support plates (14) are rotatably connected along the axis of the rotating shafts. A convex block (13) is fixed in the inner cavity of the large arm support plate (14). The rear end head of the electric push rod (17) is rotatably connected to the bottom end of the convex block (13) through a shaft pin.

5. A multifunctional rehabilitation exercise device for neurosurgical intensive care, characterized in that: The front side of the inner cavity of the large arm support plate (14) is rotatably connected to a turntable (15) through a shaft pin, and the rear end of the small arm support plate (16) is fixedly connected to the front end of the turntable (15). Among them, a plurality of elastic cloth belts are fixed on the inner side walls of the large arm support plate (14) and the small arm support plate (16) for connecting with the large arm and small arm of the human body.

6. A multifunctional rehabilitation exercise device for neurosurgical intensive care according to claim 1, characterized in that: The top end face of the hip backrest (21) is fixedly connected to the lower surface of the coccyx backplate (19). The hip backrest (21) is integrally C-shaped and is used to fit the shape of the human hip and pelvis.

7. A multifunctional rehabilitation exercise device for neurosurgical intensive care according to claim 1, characterized in that: The end of the telescopic shaft of the servo electric cylinder (23) is hinged to the rear side of the top end of the calf support rod (31).

8. A multifunctional rehabilitation exercise device for neurosurgical intensive care according to claim 1, characterized in that: The top end of the calf support rod (31) is inserted into the bottom area of the inner cavity of the thigh support plate (22), and a shaft pin for rotation penetrates through the overlapping position of the top end of the calf support rod (31) and the inner cavity of the thigh support plate (22).

9. The multifunctional rehabilitation exercise device for neurosurgical intensive care according to claim 1, wherein: Traction plates are fixed on the inner side walls of the calf support rods (31). The top end of the servo telescopic rod (33) is hinged to the bottom surface of the traction plate. A plurality of canvas belts are fixed on the inner sides of the calf support rods (31), the L-shaped movable plates (32), and the thigh support plates (22) for connecting with the thighs, calves, and ankles of the human body.

10. A multifunctional rehabilitation exercise device for neurosurgical intensive care according to claim 1, characterized in that: A battery and a control main board for controlling the servo programmable motor (43) are fixedly connected in the bottom inner cavity of the bottom plate (41).

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