Device and method for exercising lower limbs of patient

Abstract

The invention discloses a device and method for exercising the lower limbs of a patient, the device comprises a base and a dorsiflexion mechanism, the base is rotatably connected with a supporting seat for driving the legs to rotate and lift, the tail end of the supporting seat is rotatably connected with the dorsiflexion mechanism, and the dorsiflexion mechanism is rotatably connected with a foot binding mechanism for driving the feet to rotate left and right; the method comprises the following steps: S1, inputting the injury type and the rehabilitation stage of a patient into a controller to obtain a corresponding training quantity; s2, inputting various physiological parameters of the patient into a controller to obtain a training coefficient; s3, whether rehabilitation exercise is needed or not is judged, if rehabilitation exercise is needed, the controller calculates the planned exercise number of the patient, and the device is controlled to enable the patient to complete corresponding actions; the device can assist patients who cannot autonomously move in various passive lower limb activities, also supports the patients to carry out active exercise by means of the device, provides a targeted active exercise method for each patient, and improves the exercise effect.

Description

Technical Field

[0001] The present invention relates to the prevention of deep vein thrombosis, and particularly to a device and method for exercising the lower limbs of patients. Background Art

[0002] Deep vein thrombosis refers to the abnormal coagulation of blood in deep veins and belongs to the disease of lower limb venous return disorder. Most thrombus formations occur in a static state (especially major orthopedic surgeries). The pathogenic factors include three major factors: slow blood flow, venous wall injury, and hypercoagulable state. After the thrombus is formed, except for a few that can dissolve on their own or be confined to the occurrence site, most will spread to the main trunk of the deep veins of the entire limb. If not diagnosed and treated in time, most will evolve into sequelae of thrombus formation, affecting the quality of life of patients for a long time; some patients may also suffer from pulmonary embolism, causing extremely serious consequences.

[0003] Among them, passive activities can prevent deep vein thrombosis to a certain extent. For patients who are unable to move actively, such as postoperative patients or long-term bedridden patients, passive activities can be used to promote blood circulation in the lower limbs, thereby reducing the risk of deep vein thrombosis. These passive activities include but are not limited to:

[0004] Regular turning over: Avoid maintaining the same posture for a long time and reduce blood stasis in the lower limbs.

[0005] Passive limb movement: Such as having others help with leg stretching, ankle pump exercises, etc., which can promote the return of venous blood in the lower limbs.

[0006] Using auxiliary devices such as pneumatic pumps and elastic stockings: These devices can promote the flow of venous blood in the lower limbs through external pressure and reduce blood stasis.

[0007] Although passive activities help prevent deep vein thrombosis, active activities are still a more effective way. For patients who can move, it is recommended to perform moderate physical activities, such as walking, swimming, etc., to promote blood circulation throughout the body and prevent the occurrence of deep vein thrombosis.

[0008] The utility model patent with the publication number of CN216148973 discloses a lower limb active function exerciser, which relates to the technical field of lower limb exercise. The lower limb active function exerciser includes a stainless steel brace. A sponge pad is arranged on the outer wall of the top of the stainless steel brace. A wrapping cloth is sleeved on the outer walls of the stainless steel brace and the sponge pad. A mounting rod is fixedly connected to the outer wall of one side of the stainless steel brace. A damper is fixedly connected to the outer wall of one side of the mounting rod. A movable connecting shaft is rotatably connected to the inner wall of the damper. A pedal is fixedly connected to the outer wall of the movable connecting shaft. The number of the mounting rods is two. Through the dorsiflexion and plantar flexion movements of the patient's feet for exercise, the device has the function of elevating the lower limbs, which is beneficial to blood return. Bedridden patients can reduce the formation of lower limb venous thrombosis and muscle atrophy through exercise. Through gradual exercise, the formation of deep vein thrombosis in the lower limbs can be prevented, and at the same time, it can enhance muscle strength and prevent osteoporosis.

[0009] The above device has a single function and can only perform dorsiflexion and plantar flexion movements of the feet. Although it can also elevate the legs, it only serves to suspend the legs, and cannot drive the legs to move up and down, nor can it drive the ankle joint to rotate. The exercise mode is single, and it cannot fully exercise the patient's lower limbs, resulting in poor rehabilitation effects. Secondly, the above device cannot enable the patient to perform knee flexion movements, and cannot allow the patient to perform active rehabilitation exercises. The effect of completely passive rehabilitation training for the patient is worse than that of active training. Moreover, the exercise method using the above device is also single and cannot provide targeted exercise methods for different patients, which will also reduce the exercise effect. Summary of the Invention

[0010] Object of the Invention: The main object of the present invention is to provide a device and method for lower limb exercise for patients who are unable to move independently, which can assist in performing various passive lower limb activities. The secondary object is to allow the patient to use this device for active exercise, and to provide a targeted active exercise method for each patient to improve the exercise effect.

[0011] Technical Solution: To achieve the above object, the device for lower limb exercise of the present invention includes a base and a dorsiflexion mechanism of the foot. A support seat for driving the leg to rotate and lift is rotatably connected to the base. The end of the support seat far from its connection with the base is rotatably connected to the dorsiflexion mechanism of the foot. A foot-binding mechanism for driving the foot to rotate left and right is rotatably connected to the dorsiflexion mechanism of the foot. The dorsiflexion mechanism of the foot, the support seat and the foot-binding mechanism are respectively provided with a rotation mechanism for driving their rotation.

[0012] Based on the above technical solution, the support seat for placing the patient's leg is rotatably connected to the base, and the support seat is provided with a rotating mechanism for driving its rotation, so that the support mechanism can drive the patient's leg to rotate and lift, thereby exercising the corresponding leg muscles; the foot dorsiflexion mechanism can also rotate the foot fixing mechanism for fixing the patient's foot, and can drive the foot to rotate left and right. The cooperation of the two can achieve the rotation of the ankle joint at multiple angles, rather than being limited to the rotation of the ankle joint in the dorsiflexion and plantar flexion directions, which can more fully exercise the patient's foot and ankle joint. The foot dorsiflexion mechanism, the foot fixing mechanism and the support seat cooperate with each other to achieve the leg lifting exercise of the patient and the multi-angle rotation exercise of the foot and ankle joint, so that the lower limbs are fully exercised and the effect of rehabilitation exercise is improved; at the same time, the device provides a variety of lower limb exercise methods, which also reduces the workload of medical staff or family members. The corresponding exercise can be achieved through this device, and the exercise through the fixed structure device is more standardized and standard than manual operation, and can also ensure the exercise effect; the improvement of the exercise effect can better reduce the risk of deep vein thrombosis.

[0013] Preferably, a knee flexion mechanism for driving the foot to slide along the support seat to enable the patient to perform leg flexion and extension movements is slidably connected to the support seat; the knee flexion mechanism is provided with a power mechanism for driving its sliding.

[0014] The slidable connection of the knee flexion mechanism on the support seat enables the patient to perform leg flexion and extension movements, increasing the exercise methods of the lower limbs, enabling the lower limbs to move more fully, and improving the effect of rehabilitation exercise.

[0015] Preferably, when the rotating mechanism and the power mechanism are not working, the foot dorsiflexion mechanism, the support seat, the knee flexion mechanism and the foot fixing mechanism are not hindered in movement.

[0016] When the rotating mechanism and the power mechanism are not working, the foot dorsiflexion mechanism, the foot fixing mechanism, the support seat and the knee flexion mechanism can move without hindrance. Then, the rotating mechanism and the power mechanism can be actively stopped from working, and the patient can drive the foot dorsiflexion mechanism, the foot fixing mechanism, the support seat and the knee flexion mechanism to move by himself without being hindered by the rotating mechanism and the power mechanism. In this way, the patient's active exercise can improve the effect of rehabilitation exercise.

[0017] Preferably, the foot dorsiflexion mechanism, the support seat, the knee flexion mechanism and the foot fixing mechanism are all provided with damping devices, and the damping magnitude of the damping devices can be adjusted.

[0018] The above mechanisms are all provided with damping devices, which can make the start and stop processes of their movements smoother, improve the patient's experience during use, and also avoid the patient's lower limbs being strained due to sudden starts and stops.

[0019] Preferably, pressure sensing devices for measuring the magnitude of the patient's foot force are provided on both the knee flexion mechanism and the foot binding mechanism. The pressure sensing devices and the damping devices are both electrically connected to the controller; the controller is electrically connected to the rotating mechanism and the power mechanism.

[0020] The above device is also provided with a pressure sensing device, and both the pressure sensing device and the damping device are connected to the controller. In this way, when the patient performs active movement, the magnitude of the patient's force can be detected according to the pressure sensing device, and whether the magnitude of the force is appropriate can be judged according to the patient's rehabilitation degree. If it is not appropriate, the damping magnitude of the damping device can be adjusted through the controller. After the damping changes, the magnitude of the force required for the patient to actively move the corresponding components of the device will also change accordingly, avoiding damage caused by excessive force or ineffective exercise due to too little force.

[0021] Preferably, when the rotating mechanism and the power mechanism stop operating and the patient uses the dorsiflexion mechanism, the support base, the knee flexion mechanism or the foot binding mechanism to perform corresponding active exercises, as the number of times of the patient's active movement increases, the controller gradually reduces the damping value of the damping device on the corresponding components.

[0022] When the controller controls both the rotating mechanism and the power mechanism to stop operating, the patient can perform active movement. As the number of times of the patient's active movement increases, gradually reducing the damping value of the damping device can ensure the total number of times of the corresponding exercise actions completed by the patient, enabling the corresponding parts to be fully exercised and improving the exercise effect.

[0023] Preferably, when the patient performs active exercise, the initial damping value of the damping device is determined according to the measured 1RM value.

[0024] Determining the initial damping value of the damping device according to the measured 1RM value is more scientific and reasonable, ensuring that in the initial state of active movement, the patient can effectively perform active movement using this device to obtain the corresponding exercise effect, avoiding damage caused by excessive force due to too large an initial damping value, and even being unable to perform the corresponding movement, or too small an initial damping value, resulting in ineffective exercise of the corresponding parts of the patient.

[0025] Preferably, the dorsiflexion mechanism, the support base, the knee flexion mechanism and the foot binding mechanism are all provided with independent counting devices for recording the number of their reciprocating movements. The counting devices are connected to the controller. When the count of any counting device exceeds the set value, the controller issues an alarm and blocks the continued movement of all devices.

[0026] Setting the counting device and having the controller issue an alarm and block the continued movement of all devices when the count of the counting device exceeds the set value can prevent damage caused by excessive exercise volume of the patient.

[0027] The method for exercising the lower limbs of patients according to the present invention includes the following steps:

[0028] S1. Input the patient's injury type and the rehabilitation stage into the controller. The rehabilitation stage includes the acute stage, the recovery stage, or the strengthening stage. The controller has pre-set corresponding training quantities for each exercise mode for each injury type at different rehabilitation stages.

[0029] S2. Input multiple physiological parameters of the patient into the controller, and the controller calculates a training coefficient based on the physiological parameters.

[0030] S3. Determine whether rehabilitation exercise is needed based on the training coefficient. If rehabilitation exercise is needed, the controller multiplies the training coefficient by the training quantity to obtain the planned exercise quantity for the patient, and controls the dorsiflexion mechanism, the support base, the knee flexion mechanism, or the foot-binding mechanism to enable the patient to complete the corresponding actions.

[0031] Based on the above method, by inputting the patient's injury type and the rehabilitation stage into the controller to obtain the training quantity for each exercise mode, then inputting the patient's physiological parameters into the controller to obtain the training coefficient, and calculating the planned exercise quantity for each exercise mode based on the training quantity and the training coefficient, a more targeted exercise plan can be formulated according to the actual situation of each patient, which can improve the exercise effect and also increase the applicability of the device.

[0032] Beneficial effects: Compared with the prior art, the significant beneficial effects of the present invention are as follows: By rotatably connecting the support base to the base, the patient's leg can be lifted for exercise. The foot-binding mechanism in the dorsiflexion mechanism is set to be rotatable, increasing the movement angle of the patient's ankle joint. The knee flexion mechanism is provided on the support seat to enable the patient to perform leg flexion and extension movements. These enable the patient's lower limbs to be fully exercised during passive movement, improving the exercise effect, reducing the risk of deep vein thrombosis, and at the same time reducing the burden on medical staff or family members. Secondly, when the rotating mechanism and the power mechanism are not working, the corresponding mechanisms are allowed to move unobstructed, enabling the patient to perform active exercise using this device, further improving the exercise effect and reducing the risk of deep vein thrombosis. Additionally, according to the method of the present invention, a specific training plan can be formulated based on the patient's injury type, the rehabilitation stage, and physiological parameters, which is more targeted and improves the applicability. Description of the Drawings

[0033] Figure 1 Schematic diagram of the overall structure of this device Figure 1 ;

[0034] Figure 2 Schematic diagram of the overall structure of this device Figure 2 ;

[0035] Figure 3 Schematic diagram of the overall structure of this device Figure 3 ;

[0036] Figure 4 Schematic diagram of the internal structure of the support base and the base of this device;

[0037] Figure 5 is Figure 4 The enlarged structural schematic diagram at position A in Specific implementation manner

[0038] The technical solution of the present invention will be described in detail below in conjunction with the embodiments and the drawings.

[0039] As shown in the figure, the device for exercising the lower limbs of patients described in the present invention includes a base 1 and a dorsiflexion mechanism 2. A support base 3 for driving the leg to rotate and lift is rotatably connected to the base 1. The end of the support base 3 far from its connection with the base 1 is rotatably connected to the dorsiflexion mechanism 2. A foot binding mechanism 5 for driving the foot to rotate left and right is rotatably connected to the dorsiflexion mechanism 2. The dorsiflexion mechanism 2, the support base 3, and the foot binding mechanism 5 are respectively provided with a rotation mechanism for driving their rotation.

[0040] The front end of the support base 3 is rotatably connected to the front end of the base 1. The rear end of the support base 3 is rotatably connected to the dorsiflexion mechanism 2. The rotating shaft connecting the support base 3 and the base 1 penetrates through the left and right side walls of the base 1 along the left and right directions. The rotation mechanism of the support base 3 can adopt a stepper motor or a servo motor arranged on the side wall of the base 1 and connected to the rotating shaft, or a dual-axis stepper motor or a servo motor arranged inside the support base 3. The two shafts of the motor are respectively arranged on the left and right sides and are respectively connected to the left and right side walls of the base 1. The support base 3 is driven to rotate by the dual-axis motor.

[0041] The dorsiflexion mechanism 2 includes a rotating plate 2-1. Two foot binding mechanisms 5 are symmetrically and rotatably connected to the same side of the rotating plate 2-1. On the other side of the rotating plate 2-1, there are two rotation mechanisms matching the foot binding mechanism 5. Two support columns 3-1 can be symmetrically arranged on the left and right sides of the support base 3. The rotating plate 2-1 is rotatably connected between the two support columns 3-1. A rotation mechanism matching the rotating plate 2-1 is provided on one of the support columns 3-1. The rotation mechanisms of the foot binding mechanism 5 and the rotating plate 2-1 can adopt motors such as stepper motors or servo motors that can make the rotating shaft rotate freely without obstruction after power-off, so that the foot binding mechanism 5 and the rotating plate 2-1 can move without obstruction. Using a stepper motor or a servo motor can also accurately control the rotation angle.

[0042] The foot-binding mechanism 5 is provided with a binding mechanism for binding the patient's feet. The binding mechanism includes two straps. The two straps are symmetrically arranged on the left and right sides of the foot-binding mechanism 5. The same side of the end of the left strap is provided with a loop and a hook surface of Velcro, and the end of the right strap is provided with a fixing ring through which the left strap can pass. After the left strap passes through the fixing ring, it is fixed by the cooperation of the hook surface and the loop surface. In addition to Velcro, a structure similar to the buckle of a schoolbag strap can also be used to achieve fixation and adjustment of the strap length; the foot-binding mechanism 5 can be a fan-shaped plate or other structures.

[0043] The guide rod can be arranged on the surface of the rotating plate 2-1 opposite to the support column 3-1. The support column 3-1 is provided with an arc-shaped groove matching the guide rod, and the arc-shaped groove is coaxial with the rotating shaft connecting the rotating plate 2-1 and the support column 3-1; setting the guide rod can increase the stability of the rotating plate 2-1 during rotation. Similarly, in order to increase the stability of the foot-binding mechanism 5, the guide rod can also be arranged on the opposite surfaces of the foot-binding mechanism 5 and the rotating plate 2-1, and the rotating plate 2-1 is provided with an arc-shaped groove matching it; the guide rods here can all be bolts, and by adjusting the tightness of the bolts, the friction between the rotating plate 2-1 and the support column 3-1 and between the rotating plate 2-1 and the foot-binding mechanism 5 can also be adjusted, achieving the effect of a damper. Of course, electric rotary dampers can also be separately provided for the rotating shafts connecting the rotating plate 2-1 and the support column 3-1 and the rotating shafts connecting the foot-binding mechanism 5 and the rotating plate 2-1 to make the rotation of the foot-binding mechanism 5 and the rotating plate 2-1 smoother.

[0044] Two knee-bending mechanisms 4 are slidably connected to the support base 3. The knee-bending mechanism 4 includes a sliding plate 4-1. Each of the front and rear ends of the sliding plate 4-1 is provided with a telescopic baffle 4-2. The baffle 4-2 can be L-shaped, with the long plate erected and the short plate inserted into the sliding plate 4-1 and bolted to the sliding plate 4-1. Multiple positioning holes can be arranged on the surface of the sliding plate 4-1. Different positioning holes enable the short plate to be inserted to different depths, so as to adjust the distance between the two baffles 4-2 to better adapt to the foot lengths of different patients.

[0045] The support base 3 is provided with a chute 3-2 matching the sliding plate 4-1. A power mechanism is arranged in the chute 3-2 to drive the sliding plate 4-1 to slide in the chute 3-2. The power mechanism includes a stepper motor arranged at the bottom of the sliding plate 4-1. A slideway matching the stepper motor is arranged on the side wall of the chute 3-2. A gear is arranged on the output shaft of the stepper motor, and a rack meshing with the gear is arranged in the slideway. By rotating the stepper motor to drive the gear to rotate, since the rack is fixed, the rotation of the gear will drive the stepper motor to slide in the chute 3-2, and then drive the sliding plate 4-1 to slide along the chute 3-2. An electric rotary damping device can be arranged on the stepper motor.

[0046] In addition to the above structure, the power mechanism can also directly adopt an electric telescopic rod 4-3. A cavity matching the electric telescopic rod 4-3 can be provided in the support base 3. The length direction of the electric telescopic rod 4-3 is parallel to the length direction of the sliding groove 3-2. The sliding plate 4-1 can also be connected with an electric telescopic damper 4-4. The electric telescopic damper 4-4 is arranged in the sliding groove 3-2. However, when the power mechanism adopts the structure of the electric telescopic rod 4-3, when the patient wants to actively exercise, the electric telescopic rod 4-3 needs to be separated from the sliding plate 4-1. The two can adopt a bolted connection form for easy disassembly and assembly. The bolted connection part of the two can be arranged on one side close to the side wall of the base 1. A through groove matching it can be provided on the side wall of the base 1, so that the connecting bolt of the sliding plate 4-1 and the electric telescopic rod 4-3 is exposed, which is convenient for disassembly and assembly. Because when the patient actively exercises, the electric telescopic rod 4-3 will hinder their movement, and the resistance size is uncontrollable, which is not convenient for the patient to actively exercise; the surface of the sliding plate 4-1 is also provided with a binding mechanism with the same structure as that on the foot binding mechanism 5.

[0047] An electric rotary damper can also be provided on the rotating shaft connecting the support base 3 and the base 1. The rotating mechanism for driving the rotation of the support base 3 adopts a stepping motor or a servo motor and other motors that can make the rotating shaft rotate without obstruction when not working.

[0048] When the rotating mechanism and the power mechanism are operating, the patient is in a passive movement state. When the rotating mechanism and the power mechanism stop operating, the patient can actively move; only one of the dorsiflexion mechanism 2 and the knee flexion mechanism 4 can operate at the same time. The operation of the rotating mechanism and the power mechanism is controlled by the controller, so as to realize the switching between the two states of the patient's active movement and passive movement. In the passive movement state, if the patient needs to perform dorsiflexion and plantar flexion movements of the foot, just fix the foot on the foot binding mechanism 5, and then start the rotating mechanism connected to the rotating plate 2-1 to make the rotating plate 2-1 rotate. If you want to perform ankle rotation, you can start the rotating mechanism connected to the foot binding mechanism 5. The dorsiflexion and plantar flexion movements of the foot and the ankle rotation can be carried out at the same time; if you want to perform leg lifting movement, just start the rotating mechanism connected to the support base 3. The leg lifting movement can be carried out at the same time as the above two movements; if you want to perform knee flexion movement, you need to fix the foot between the two baffles 4-2 of the sliding plate 4-1, and then start the power mechanism to drive the sliding of the sliding plate 4-1. The knee flexion movement can be carried out at the same time as the leg lifting movement, but cannot be carried out at the same time as any one of the dorsiflexion and plantar flexion movements of the foot and the ankle rotation movement. This device can realize a variety of standard passive movement methods for patients, without the need for artificial full assistance for the patient's passive movement, greatly reducing the burden on medical staff or caregivers, and can also be switched to an active movement mode, enabling the patient to use this device for corresponding exercises, which is convenient and practical.

[0049] Pressure sensing devices can be provided on both the binding mechanism on the foot binding mechanism 5 and the inner side of the baffle 4-2. The pressure sensing device can adopt a flexible film pressure sensing device. The pressure sensing device on the binding mechanism of the foot binding mechanism 5 can obtain the magnitude of the force when the patient actively rotates the ankle left and right, dorsiflexes and plantarflexes the foot, and lifts the leg; the pressure sensing device on the baffle 4-2 can obtain the magnitude of the force when the patient actively flexes and extends the leg. Both the pressure sensing device and the damping device are connected to the controller. The controller can be arranged on the rotating plate 2-1, and the controller is also electrically connected to the rotating mechanism and the power mechanism to control their operation.

[0050] On the rotating plate 2-1, limit devices 6 such as limit posts can also be provided on both sides of the foot binding mechanism 5 to limit the rotation angle of the foot binding mechanism 5; limit devices 6 such as limit posts can be provided on the front and rear sides of the rotating plate 2-1 for the support column 3-1 to limit the rotation angle of the rotating plate 2-1; of course, if guide posts are provided on the foot binding mechanism 5 and the rotating plate 2-1, the guide posts and the matching arc-shaped grooves can actually play a limiting role, and there is no need to additionally provide limit devices 6 such as limit posts; on the side wall of the support base 3 opposite to the base 1, matching guide posts and arc-shaped grooves can also be provided to play a limiting role or other limit devices 6 can be provided; in the sliding groove 3-2, a limit device 6 matching the sliding plate 4-1 can also be provided, and the limit device 6 here can adopt the structure of a limit plate; setting the limit device 6 on the above components can prevent the corresponding components from having too large a movement amplitude and causing damage to the patient. The limit device 6 can be set to an adjustable state to dynamically adjust the range of the movement amplitude limit of the components.

[0051] The damping value of the damping device remains at a small value during the passive movement of the patient to avoid sudden starts and stops; the damping value of the damping device can be dynamically adjusted during the active movement of the patient to achieve a better exercise effect. The following takes the damping device provided on the knee bending mechanism 4 as an example for explanation:

[0052] During knee bending and straightening activities, the patient exercises in groups. Exemplarily, the knee bending activity is done in four groups, with 12 times in each group. In order to make each knee bending process of the patient more complete, therefore, the damping value of the electromagnetic damper during each drive in a group of 12 times can be gradually reduced in a decreasing manner, and try to let the patient complete each group fully and bend the knee sufficiently; during the active movement of the patient, the damping devices provided on the other components can also gradually reduce the damping value as the number of exercise groups increases to ensure that the patient can complete all groups and make the corresponding exercise process more complete.

[0053] To achieve a more scientific personalized setting of the load during active movement for patients and determine the damping value of the damping device during active movement, the parameter 1RM is introduced here. It is defined as the maximum load that an individual can complete a single movement standardly in a specific action. However, in clinical practice, it is somewhat difficult to directly obtain 1RM. Relatively speaking, it is easier to obtain nRM (1 < n ≤ 10). During actual operation, the value of nRM can be measured first, and then converted with the help of the Epley formula to obtain the value of 1RM. The specific Epley formula is: 1RM = nRM * (1 + 0.0333 * n). The process of measuring nRM belongs to the scope of existing technologies and will not be elaborated in detail here.

[0054] After obtaining 1RM, during the active movement of the patient, the initial damping value of the corresponding damping device can be set specifically. The damping value of the damping device is equivalent to the load that the patient has to bear during the movement. For example: 1. For patients in the acute phase, exercise with an initial damping value = 60 - 70% 1RM according to individual circumstances without violating the specific details of the guidelines, aiming to improve muscle endurance in the initial stage of rehabilitation; 2. For patients in the recovery and strengthening phases, exercise with an initial damping value = 70 - 85% 1RM according to individual circumstances without violating the specific details of the guidelines, aiming to effectively stimulate muscle fibers, promote the nervous system to recruit more motor units to participate in contraction, and restore and enhance the absolute strength of the muscles; The setting of the above initial damping value can refer to the specific regulations of NSCA (National Strength and Conditioning Association), "ACSM's Guidelines for Exercise Testing and Prescription", and ACSM (American College of Sports Medicine), etc. For different situations of different patients, the initial damping value can be adjusted accordingly with reference to the above literature.

[0055] According to the relevant guiding opinions in "Rehabilitation of Common Orthopedic Diseases" publicly released by the Rehabilitation Department of Xiangya Hospital of Central South University and "AAOS Postoperative Rehabilitation Clinical Pathway" (2023 Edition), the limitations on the force magnitude and rotation angle when patients perform different movements at different rehabilitation stages are shown in Table 1 below

[0056] Table 1 Requirements for various movement restrictions at different rehabilitation stages

[0057]

[0058] The above table only lists some of the requirements of the above two guidelines. For more, you can refer to the content of the above guidelines. Moreover, the reference guidelines are not limited to the above two. You can choose other guidelines according to the actual situation, and the specific restrictive requirements can also be adjusted accordingly under the guidance of a doctor. According to the given force magnitude requirement and rotation angle requirement, corresponding upper limits can be set in the controller. When the force magnitude measured by the pressure sensing device in real time exceeds the upper limit, the controller immediately blocks all devices from continuing to move, and the position-limiting devices 6 set at each component can be adjusted in advance according to the limitation requirements for the movement amplitude of the corresponding component to ensure that the movement amplitude of each component does not exceed the limitation requirements.

[0059] The swivel plate 2-1 of the dorsiflexion mechanism 2, the foot-binding mechanism 5, the support base 3, and the knee-flexion mechanism 4 are all provided with independent counting devices for recording the number of their reciprocating movements. The counting devices can adopt infrared induction counters, and the specific settings are as follows: An infrared induction counter that matches is set between the swivel plate 2-1 and the support column 3-1, an infrared induction counter that matches is set between the foot-binding mechanism 5 and the swivel plate 2-1, an infrared induction counter that matches is set between the support base 3 and the base 1, and an infrared induction counter that matches is set between the sliding plate 4-1 of the knee-flexion mechanism 4 and the surface of the support base 3. The counting devices are connected to the controller. When the count of any counting device exceeds the set value, the controller issues an alarm and blocks all devices from continuing to move.

[0060] Specifically, it can be set as follows:

[0061] When the total number of times N of a certain exercise action actually performed by the patient on a certain day i exceeds its planned training quantity N i (N i = A i * B i * C i * K) by 5%, the controller issues an alarm. If the patient is in a passive movement state, the controller stops the operation of all rotating mechanisms and power mechanisms and makes the damping values of all damping devices maximum; if the patient is in an active movement state, the controller makes the damping values of all damping devices maximum.

[0062] When the total number of times N of the exercise plan actions performed on a certain day i is more than 10% more than the total number of times Nprevious of the previous day i , that is, N i > Nprevious i * 110%, the controller issues an alarm. If the patient is in a passive movement state, the controller stops the operation of all rotating mechanisms and power mechanisms and makes the damping values of all damping devices maximum; if the patient is in an active movement state, the controller makes the damping values of all damping devices maximum.

[0063] The support base 3 is provided with a groove 3-1 that matches the heel. The groove provided on the support base enables better positioning of the patient's foot, allows for quick placement, and also prevents the foot from moving during exercise, which can lead to non-standard movement and reduced exercise effectiveness. All exposed surfaces of this device can also be covered with a layer of flexible material such as sponge to increase the comfort of the patient during use.

[0064] The method for lower limb exercise of patients according to the present invention includes the following steps:

[0065] S1. Input the type of the patient's injury and the rehabilitation stage into the controller. The rehabilitation stage includes the acute phase, the recovery phase, or the strengthening phase. The controller has corresponding training quantities built-in for each type of injury and each movement mode at different rehabilitation stages.

[0066] For different movement modes at different rehabilitation stages, there are basic training quantities, which can also be adjusted according to the actual situation. Specifically, as shown in Table 2

[0067] Table 2 Basic training times table for various exercise actions at different rehabilitation stages

[0068] Exercise movements Acute phase Recovery phase Strengthening phase Leg lift exercise 2*2*5 3*4*8 5*6*10 Ankle rotation exercise 2*3*10 3*5*15 5*6*20 Knee flexion and extension exercise 2*2*5 3*4*10 5*6*15 Foot dorsiflexion and plantar flexion exercise 2*3*5 3*5*12 5*6*20

[0069] The meaning of the specific values in the above table is: the number of times A practiced in a day i * The number of groups B for each practice i * The number of times C for each group of actions i , A i , B i and C i The subscript i of A, B, and C represents the i-th exercise action. For example, 2*2*5 in the first row and first column means: in the acute phase of the rehabilitation stage, the leg lift exercise is trained 2 times a day, 2 groups are trained each time, and 5 leg lifts are done in each group. A total of 20 leg lift exercises are to be done on that day.

[0070] For different types of injuries, there are different rehabilitation stages, and the training quantity should be determined according to the rehabilitation stage it is in. Here, k7 represents the type of injury, and k8 represents the rehabilitation stage. The specific corresponding relationship is shown in Table 3

[0071] Table 3 Rehabilitation stages included in different types of injuries

[0072]

[0073]

[0074] The above table only lists some requirements of the relevant guidelines. More guidelines can be imported according to the actual situation, and specific restrictive requirements can also be adjusted accordingly under the guidance of a doctor.

[0075] As can be seen from Table 3, if the patient has an ankle sprain (grade I-II), there is no acute phase in the rehabilitation stage, and the amount of training should be selected from the recovery phase or the strengthening phase in Table 1.

[0076] S2. Input various physiological parameters of the patient into the controller, and the controller calculates the training coefficient according to the physiological parameters; the physiological parameters include age, gender, BMI and VAS score; the training coefficient is calculated according to the following formula

[0077] K=k1*k2*k3*k4

[0078] Among them, k1 is the age coefficient, and the calculation formula is k1=1-0.0025|age-20|; k2 is the gender coefficient, k2 is 1 for males and 0.7 for females; k3 is the body mass coefficient, if BMI<24, k3 is 1, if 24≤BMI<28, k5=1-(BMI-24)*0.025, if BMI≥28, k3 is 0.9, where BMI=k5 / 9k6) 2 , where k5 is weight, k6 is height; k4 is pain coefficient, if VAS<5, then k4=1-VAS / 10*0.3, if VAS≥5, then k4 is 0;

[0079] S3. Determine whether rehabilitation training is needed according to the training coefficient. If K=0, no rehabilitation training is performed; otherwise, rehabilitation training is performed.

[0080] If rehabilitation exercise is required, the controller multiplies the training coefficient by the training quantity to obtain the patient's planned exercise quantity. The calculation formula for the exercise quantity is N i =A i *B i *(C i *K), the actual K changes only C i That is, the number of movements per set, and the number of exercises per day A i and the number of sets per exercise B i There are specific and clear provisions in the corresponding medical rehabilitation guidelines (such as the "Rehabilitation of Common Orthopedic Diseases" published by the Rehabilitation Department of Xiangya Hospital of Central South University and the "AAOS Postoperative Rehabilitation Clinical Pathway" (2023 Edition)); N i represents the planned number of exercises for the i-th exercise action. The controller is based on N i The dorsiflexion mechanism 2, the support seat 3, the knee flexion mechanism 4 or the foot binding mechanism 5 are controlled to enable the patient to complete the corresponding movements.

Claims

1. A device for exercising the lower limbs of patients, comprising a base (1) and a dorsiflexion mechanism (2), characterized in that: A support base (1) is rotatably connected with a support seat (3) for driving the leg to rotate and lift. The end of the support seat (3) away from its connection with the base (1) is rotatably connected with a dorsal foot flexion mechanism (2). A foot binding mechanism (5) for driving the foot to rotate left and right is rotatably connected to the dorsal foot flexion mechanism (2). The dorsal foot flexion mechanism (2), the support seat (3), and the foot binding mechanism (5) are respectively provided with rotation mechanisms for driving their rotation.

2. The device for lower limb exercise of patients according to claim 1, characterized in that: A knee flexion mechanism (4) for driving the foot to slide along the support seat (3) to enable the patient to perform leg flexion and extension movements is slidably connected to the support seat (3); the knee flexion mechanism (4) is provided with a power mechanism for driving its sliding.

3. The device for lower limb exercise of patients according to claim 2, characterized in that: When the rotation mechanism and the power mechanism do not work, the movement of the dorsal foot flexion mechanism (2), the support seat (3), the knee flexion mechanism (4), and the foot binding mechanism (5) is not hindered.

4. The device for lower limb exercise of patients according to claim 3, characterized in that: The dorsal foot flexion mechanism (2), the support seat (3), the knee flexion mechanism (4), and the foot binding mechanism (5) are all provided with damping devices, and the damping magnitude of the damping devices is adjustable.

5. The device for exercising the lower limbs of a patient according to claim 4, characterized in that: The knee flexion mechanism (4) and the foot binding mechanism (5) are both provided with pressure sensing devices for measuring the magnitude of the patient's foot force. The pressure sensing devices and the damping devices are both electrically connected to a controller; the controller is electrically connected to the rotation mechanism and the power mechanism.

6. The device for exercising the lower limbs of a patient according to claim 5, wherein: When the rotation mechanism and the power mechanism stop operating and the patient uses the dorsal foot flexion mechanism (2), the support seat (3), the knee flexion mechanism (4), or the foot binding mechanism (5) to perform corresponding active exercises, as the number of times of the patient's active movement increases, the controller gradually reduces the damping value of the damping device on the corresponding component.

7. The device for exercising the lower limbs of a patient according to claim 6, characterized in that: When the patient performs active exercises, the initial damping value of the damping device is determined according to the measured 1RM value.

8. The device for lower limb exercise of patients according to claim 2, characterized in that: The dorsal foot flexion mechanism (2), the support seat (3), the knee flexion mechanism (4), and the foot binding mechanism (5) are all provided with independent counting devices for recording the number of their reciprocating movements. The counting devices are connected to the controller. When the count of any counting device exceeds the set value, the controller issues an alarm and blocks the continued movement of all devices.

9. A method for lower limb exercise of patients using the device according to any one of claims 2-8, characterized in that, It includes the following steps: S1. Input the patient's injury type and rehabilitation stage into the controller. The rehabilitation stage includes the acute phase, the recovery phase, or the strengthening phase. The controller has built-in corresponding training quantities for each movement method for each injury type in different rehabilitation stages; S2. Input various physiological parameters of the patient into the controller, and the controller calculates a training coefficient according to the physiological parameters; S3. Judge whether rehabilitation exercises are needed according to the training coefficient. If rehabilitation exercises are needed, the controller multiplies the training coefficient by the training quantity to obtain the planned movement quantity of the patient, and controls the dorsal foot flexion mechanism (2), the support seat (3), the knee flexion mechanism (4), or the foot binding mechanism (5) to enable the patient to complete the corresponding actions.

10. The method for exercising the lower limbs of a patient according to claim 9, characterized in that: The physiological parameters in step S2 include age, gender, BMI, and VAS score; the training coefficient is calculated according to the following formula K = k1 * k2 * k3 * k4 Among them, k1 is the age coefficient, and its calculation formula is k1 = 1 - 0.0025|age - 20|; k2 is the gender coefficient, taking 1 for males and 0.7 for females; k3 is the body mass coefficient. If BMI < 24, then k3 takes 1. If 24 ≤ BMI < 28, then k3 = 1 - (BMI - 24) * 0.

025. If BMI ≥ 28, then k3 takes 0.9; k4 is the pain coefficient. If VAS < 5, then k4 = 1 - VAS / 10 * 0.

3. If VAS ≥ 5, then k4 takes 0; When K = 0, no rehabilitation exercise is carried out, otherwise rehabilitation exercise is carried out.

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