Wearable feedback device for orthopedic rehabilitation training

Abstract

The invention discloses a wearable feedback device for orthopedic rehabilitation training, which comprises a rehabilitation chair, a rehabilitation frame and a monitoring bandage, and is characterized in that the rehabilitation chair is located on one side of the rehabilitation frame, and the monitoring bandage is provided with an inertial sensor, a flexible film pressure sensor, a myoelectricity sensor and an infrared temperature measurement module; the inertial sensor, the flexible film pressure sensor, the myoelectricity sensor and the infrared temperature measurement module are all electrically connected with the processing module, and the processing module is electrically connected with the storage module. A patient binds the monitoring bandages to knee joints, sits on the rehabilitation chair and puts feet on the rehabilitation frame to stretch and bend, the inertial sensor, the flexible film pressure sensor, the myoelectricity sensor and the infrared temperature measurement module on the monitoring bandages carry out real-time acquisition, and after being processed by the processing module, the data are transmitted to the storage module to be stored. And then the next training is adjusted based on the knee bending angle, so that the recovery difference caused by the fact that the knee bending angle cannot be grasped in time is prevented, and the rehabilitation training effect is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of joint rehabilitation, and in particular to a wearable feedback device for orthopedic rehabilitation training. Background Art

[0002] In recent years, the clinical significance of rehabilitation training after knee replacement surgery has gradually been recognized. How to reduce the limb swelling symptoms of patients after knee replacement surgery and promote the rapid recovery of limb function is an issue that medical staff attach great importance to. Therefore, it is very important to provide patients with scientific and systematic limb function training and rehabilitation guidance after surgery. Therefore, functional training devices that combine passive and active movements after orthopedic knee surgery are needed.

[0003] Existing training assistance devices are inefficient and cannot guarantee the standardization of each patient's knee flexion movement. If the training angle cannot be accurately measured during rehabilitation training, the effect of each rehabilitation training, that is, the flexion angle, cannot be accurately and timely grasped, resulting in unsatisfactory rehabilitation training results. Existing training devices can only assist knee flexion or self-flexion exercises of the affected limb. Because the knee flexion angle cannot be grasped in time, individual differences occur. Poor grasp of the training angle leads to inadequate or excessive knee flexion angles, which are not conducive to postoperative recovery. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a wearable feedback device for orthopedic rehabilitation training.

[0005] The objectives of the present invention are achieved through the following technical solutions: A wearable feedback device for orthopedic rehabilitation training, comprising a rehabilitation chair, a rehabilitation frame, and a monitoring strap, wherein the rehabilitation chair is located on one side of the rehabilitation frame, and the monitoring strap is provided with an inertial sensor, a flexible film pressure sensor, an electromyographic sensor, and an infrared temperature measurement module, wherein the inertial sensor, the flexible film pressure sensor, the electromyographic sensor, and the infrared temperature measurement module are all electrically connected to a processing module, and the processing module is electrically connected to a storage module;

[0006] The inertial sensor is set on the side of the knee to measure the bending angle, angular velocity and movement direction of the knee joint;

[0007] A flexible thin film pressure sensor is placed around the patella to monitor pressure distribution;

[0008] Myoelectric sensors are attached to the knee muscle group to detect the myoelectric signals of the quadriceps and hamstrings and evaluate the muscle activation status;

[0009] The infrared temperature measurement module is used to monitor skin temperature.

[0010] Preferably, the inertial sensor calculates the bending angle of the knee joint in the following specific steps:

[0011] S1: Use Kalman filtering to estimate the quaternion q in real time using the gyroscope, accelerometer, and magnetometer data in the inertial sensors;

[0012] S2: Calculate the relative rotation quaternion q rel ,

[0013]

[0014] Among them, q current is the current attitude quaternion, q int is the quaternion corresponding to the knee extension, is the quaternion multiplication, q -1 is the quaternion conjugate;

[0015] S3: Extract Euler angles based on quaternions,

[0016] Calculate the flexion / extension angle θ,

[0017] θ=arcsin(2(q w q y -q z q x ));

[0018] Among them, q w is the real part, q x ,q y and q z is the imaginary part;

[0019] Calculate the internal / external rotation angle ψ,

[0020]

[0021] Calculate the adduction / abduction angle φ,

[0022]

[0023] Preferably, the specific steps of the processing module to eliminate motion noise are:

[0024] A1: Use the gyroscope angular velocity to update the angle,

[0025] θ k|k-1 =θ k-1 +ω·Δt;

[0026] Where ω is the angular velocity and θ is the joint angle;

[0027] The forecast covariance matrix,

[0028] P k|k-1 =P k-1 +Q;

[0029] Where Q is the process noise covariance;

[0030] A2: Calculate the Kalman gain K k ,

[0031] K k =P k|k-1 H T (HP k|k-1 H T +R) -1 ;

[0032] Where H is the measurement matrix and R is the accelerometer noise covariance;

[0033] Correct the angle.

[0034] θ k =θ k|k-1 +K k (z k -Hθ k|k-1 );

[0035] Among them, z k is the angle calculated directly from the accelerometer;

[0036] A3: Update the covariance matrix.

[0037] P k =(IK k H)P k|k-1 .

[0038] Preferably, the rehabilitation frame includes a bracket a, an arc groove is installed on the bracket a through a support rod, a through groove is opened on the arc groove, a moving block is arranged in the through groove, and a training plate and a weight plate are respectively arranged at both ends of the moving block.

[0039] Preferably, a front baffle and a rear baffle are respectively provided at both ends of the training board, and the height of the front baffle is higher than that of the rear baffle.

[0040] Preferably, the training plates and the weight plates are of the same weight.

[0041] Preferably, the rehabilitation chair includes a bracket b, a mounting plate a is provided at the upper end of the bracket b, the end of the mounting plate a is provided on the telescopic rod, a mounting rod is provided at the lower end of the telescopic rod, a seat is provided on the mounting rod, a cylinder is installed on the mounting plate a, the piston rod on the cylinder is connected to the seat, a control button is provided on the mounting rod, and the control button is electrically connected to the cylinder.

[0042] The present invention has the following advantages: the patient of the present invention ties the monitoring strap around the knee joint, then sits on a rehabilitation chair and places the feet on a rehabilitation frame to perform flexion and extension exercises. During the exercise, the inertial sensor, flexible film pressure sensor, electromyographic sensor and infrared temperature measurement module on the monitoring strap collect data in real time, which are then processed by the processing module and transmitted to the storage module for storage, making it easy to review the data after training and then adjust the next training based on the knee flexion angle, thereby preventing recovery differences due to the inability to timely grasp the knee flexion angle and ensuring the effect of rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a structural diagram of a rehabilitation chair;

[0044] Figure 2 Schematic diagram of the structure of the rehabilitation frame;

[0045] In the figure, 1-bracket a, 2-arc groove, 3-training plate, 4-moving block, 5-weight plate, 6-rear baffle, 7-front baffle, 8-rehabilitation frame, 9-bracket b, 10-mounting plate a, 11-telescopic rod, 12-mounting rod, 13-control button, 14-seat, 15-cylinder, 16-piston rod. DETAILED DESCRIPTION

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0047] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0048] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other.

[0049] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0050] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is typically placed when in use, or are the orientations or positional relationships commonly understood by those skilled in the art. These terms are intended only to facilitate the description of the present invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0051] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0052] In this embodiment, a wearable feedback device for orthopedic rehabilitation training includes a rehabilitation chair, a rehabilitation frame 8, and a monitoring strap. The rehabilitation chair is located on one side of the rehabilitation frame 8. The monitoring strap is provided with an inertial sensor, a flexible film pressure sensor, an electromyographic sensor, and an infrared temperature measurement module. The inertial sensor, the flexible film pressure sensor, the electromyographic sensor, and the infrared temperature measurement module are all electrically connected to a processing module, which is electrically connected to a storage module.

[0053] The inertial sensor is set on the side of the knee to measure the bending angle, angular velocity and movement direction of the knee joint;

[0054] A flexible thin film pressure sensor is placed around the patella to monitor pressure distribution;

[0055] Myoelectric sensors are attached to the knee muscle group to detect the myoelectric signals of the quadriceps and hamstrings and evaluate the muscle activation status;

[0056] The infrared temperature measurement module is used to monitor skin temperature. The patient attaches a monitoring strap to the knee joint, then sits in a rehabilitation chair and places their feet on the rehabilitation frame 8 to perform flexion and extension exercises. During the exercise, the inertial sensor, flexible film pressure sensor, electromyography sensor, and infrared temperature measurement module on the monitoring strap collect real-time data. After processing by the processing module, the data is transmitted to the storage module for storage, allowing for easy review after training. The next training session can then be adjusted based on the knee flexion angle, thus preventing recovery differences caused by not timely monitoring the knee flexion angle and ensuring the effectiveness of rehabilitation training.

[0057] Furthermore, the specific steps for the inertial sensor to calculate the bending angle of the knee joint are as follows:

[0058] S1: Use Kalman filtering to estimate the quaternion q in real time using the gyroscope, accelerometer, and magnetometer data in the inertial sensors;

[0059] S2: Calculate the relative rotation quaternion q rel ,

[0060]

[0061] Among them, q current is the current attitude quaternion, q int is the quaternion corresponding to the knee extension, is the quaternion multiplication, q -1 is the quaternion conjugate;

[0062] S3: Extract Euler angles based on quaternions,

[0063] Calculate the flexion / extension angle θ,

[0064] θ=arcsin(2(q w q y -q z q x ));

[0065] Among them, q w is the real part, q x ,q y and q z is the imaginary part and satisfies the normalization condition:

[0066]

[0067] Calculate the internal / external rotation angle ψ,

[0068]

[0069] Calculate the adduction / abduction angle φ,

[0070]

[0071] Furthermore, the specific steps of the processing module to eliminate motion noise are as follows:

[0072] A1: Use the gyroscope angular velocity to update the angle,

[0073] θ k|k-1 =θ k-1 +ω·Δt;

[0074] Where ω is the angular velocity and θ is the joint angle;

[0075] The forecast covariance matrix,

[0076] P k|k-1 =P k-1 +Q;

[0077] Where Q is the process noise covariance;

[0078] A2: Calculate the Kalman gain K k ,

[0079] K k =P k|k-1 H T (HP k|k-1 H T +R) -1 ;

[0080] Where H is the measurement matrix and R is the accelerometer noise covariance;

[0081] Correct the angle.

[0082] θ k =θ k|k-1 +K k (z k -Hθ k|k-1 );

[0083] Among them, z k is the angle calculated directly from the accelerometer;

[0084] A3: Update the covariance matrix.

[0085] P k =(IK k H)P k|k-1 .

[0086] Specifically, the noise sources mainly include the following parts: first, gyroscope temperature drift and random walk noise; second, accelerometer high-frequency vibration interference, such as leg vibration during training; third, rapid movements causing sudden changes in sensor data; and fourth, measurement deviations caused by loose or displaced straps.

[0087] In this embodiment, if Figure 2As shown, the rehabilitation frame 8 includes a bracket a1, on which an arc-shaped slot 2 is installed through a support rod, and a through slot is provided on the arc-shaped slot 2, in which a moving block 4 is provided, and a training plate 3 and a counterweight plate 5 are provided at both ends of the moving block 4. Preferably, the training plate 3 and the counterweight plate 5 have the same weight. Specifically, the patient places his feet on the training plate 3 and drives the moving block 4 to move back and forth in the through slot, thereby completing the flexion and extension movement and performing rehabilitation training. Furthermore, a front baffle 7 and a rear baffle 6 are provided at both ends of the training plate 3, and the height of the front baffle 7 is higher than that of the rear baffle 6. Specifically, the main function of the front baffle 7 and the rear baffle 6 is to limit the patient's feet, so that the patient can better drive the training plate 3 to move.

[0088] In this embodiment, if Figure 1 As shown, the rehabilitation chair includes a bracket b9, the upper end of which is provided with a mounting plate a10. The end of the mounting plate a10 is mounted on a telescopic rod 11. The lower end of the telescopic rod 11 is provided with a mounting rod 12. A seat 14 is mounted on the mounting rod 12. A cylinder 15 is mounted on the mounting plate a10. A piston rod 16 on the cylinder 15 is connected to the seat 14. A control button 13 is provided on the mounting rod 12. The control button 13 is electrically connected to the cylinder 15. Specifically, when a patient sits on the seat 14, the control button 13 controls the piston rod 16 on the cylinder 15 to extend or contract according to the patient's height, thereby raising or lowering the telescopic rod 11 and the seat 14, thereby facilitating the patient's foot to exert better force on the training board 3. In this embodiment, the telescopic rod 11 is an existing product and has not been improved here, so it will not be described in detail.

[0089] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A wearable feedback device for orthopedic rehabilitation training, characterized by: The device comprises a rehabilitation chair, a rehabilitation frame (8) and a monitoring strap, wherein the rehabilitation chair is located on one side of the rehabilitation frame (8), and the monitoring strap is provided with an inertial sensor, a flexible film pressure sensor, an electromyographic sensor and an infrared temperature measurement module, wherein the inertial sensor, the flexible film pressure sensor, the electromyographic sensor and the infrared temperature measurement module are all electrically connected to a processing module, and the processing module is electrically connected to a storage module; The inertial sensor is arranged on the side of the knee and is used to measure the bending angle, angular velocity and movement direction of the knee joint; The flexible film pressure sensor is arranged around the patella to monitor pressure distribution; The myoelectric sensor is attached to the knee muscle group to detect the myoelectric signals of the quadriceps and hamstrings and evaluate the muscle activation status; The infrared temperature measurement module is used to monitor skin temperature.

2. The wearable feedback device for orthopedic rehabilitation training according to claim 1, characterized in that: The specific steps of calculating the bending angle of the knee joint by the inertial sensor are as follows: S1: Use Kalman filtering to estimate the quaternion q in real time using the gyroscope, accelerometer, and magnetometer data in the inertial sensors; S2: Calculate the relative rotation quaternion q rel , Among them, q current is the current attitude quaternion, q init is the quaternion corresponding to the knee extension, is the quaternion multiplication, q -1 is the quaternion conjugate; S3: Extract Euler angles based on quaternions, Calculate the flexion / extension angle θ, θ(arcsin(2(q). w q y -q z q x )) Among them, q w is the real part, q x ,q y and q z is the imaginary part; Calculate the internal / external rotation angle ψ, Calculate the adduction / abduction angle φ, 3. The wearable feedback device for orthopedic rehabilitation training according to claim 2, characterized in that: The specific steps of the processing module to eliminate motion noise are: A1: Use the gyroscope angular velocity to update the angle, i k|k-1 =θ k-1 +ω·Δt; Where ω is the angular velocity and θ is the joint angle; The forecast covariance matrix, P k|k-1 =P k-1 +Q; Where Q is the process noise covariance; A2: Calculate the Kalman gain K k , K k =P k|k-1 H T (HP k|k-1 H T +R) -1 ; Where H is the measurement matrix and R is the accelerometer noise covariance; Correct the angle. i k =θ k|k-1 +K k (z k -Hθ k|k-1 ); Among them, z k is the angle calculated directly from the accelerometer; A3: Update the covariance matrix. P k =(I-K k H)P k|k-1 。 4. The wearable feedback device for orthopedic rehabilitation training according to claim 1, characterized in that: The rehabilitation frame (8) comprises a bracket a (1), an arcuate slot (2) is mounted on the bracket a (1) via a support rod, a through slot is provided on the arcuate slot (2), a moving block (4) is arranged in the through slot, and a training plate (3) and a counterweight plate (5) are respectively provided at both ends of the moving block (4).

5. The wearable feedback device for orthopedic rehabilitation training according to claim 4, characterized in that: A front baffle (7) and a rear baffle (6) are respectively provided at both ends of the training board (3), and the height of the front baffle (7) is higher than that of the rear baffle (6).

6. The wearable feedback device for orthopedic rehabilitation training according to claim 5, characterized in that: The training plate (3) and the weight plate (5) have the same weight.

7. The wearable feedback device for orthopedic rehabilitation training according to claim 1, characterized in that: The rehabilitation chair comprises a bracket b (9), the upper end of the bracket b (9) is provided with a mounting plate a (10), the end of the mounting plate a (10) is provided on a telescopic rod (11), the lower end of the telescopic rod (11) is provided with a mounting rod (12), a seat (14) is provided on the mounting rod (12), a cylinder (15) is installed on the mounting plate a (10), a piston rod (16) on the cylinder (15) is connected to the seat (14), a control button (13) is provided on the mounting rod (12), and the control button (13) is electrically connected to the cylinder (15).

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