Single-lower-limb intelligent weight training system and method suitable for recumbent rehabilitation

Abstract

The invention provides a single-lower-limb intelligent weight training system and method suitable for recumbent rehabilitation, and relates to the technical field of rehabilitation training.The single-lower-limb intelligent weight training system is characterized in that a wearing part of a single-lower-limb training structure is worn on an affected limb of a patient in a recumbent state, and a force application part is held by the patient or hung on a bedside rod of a sickbed; the force applying part is used for applying the pulling force generated by the force applying part to the wearing part for weight training; real-time pulling force generated by the single lower limb training structure is collected in real time in the training process, power transmission between the force application part and the wearing part is cut off when it is judged that the real-time pulling force exceeds a preset load bearing threshold value, and power transmission between the force application part and the wearing part is recovered when it is judged that the real-time pulling force does not exceed the load bearing threshold value. The device has the advantages that the host is connected to the force application part and the wearing part, the force application part and the wearing part work cooperatively, precise, safe and closed-loop training of single-limb axial load is achieved under the bedridden condition for the first time, and the core defects that in traditional rehabilitation, the load is uncontrollable, quantitative feedback is avoided, and single-foot training is lacked are systematically overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation training, and in particular to a single lower limb intelligent weight-bearing training system and method suitable for supine rehabilitation. Background Art

[0002] Functional recovery after lower limb fracture surgery is a complex process. Extensive research evidence from both domestic and international studies indicates that applying appropriate axial stress to the affected limb during different stages of fracture healing can effectively stimulate callus formation and bone remodeling, significantly accelerating bone remodeling and functional recovery, highlighting the critical role of early, controlled weight-bearing.

[0003] However, in clinical practice, developing and implementing a safe, effective, and individualized postoperative weight-bearing program for patients, especially during the early bed rest phase, faces severe challenges. The reasons are:

[0004] 1. Lack of effective axial stress: Although traditional bed muscle strength training (such as straight leg raising and isometric contraction) and joint mobility training are necessary, they cannot simulate standing or walking states and cannot provide the controllable axial stress stimulation necessary to promote fracture healing.

[0005] 2. Poor training results: Even with the above training, the results are often unsatisfactory due to low patient compliance, pain interference, or lack of continuous guidance and supervision from professionals.

[0006] 3. Inaccurate application of external force: Relying on family members or caregivers to manually apply force (such as pressing the soles of the feet) has significant flaws: it is difficult to accurately control the size, direction, rate and distribution of the load, and it is impossible to achieve real-time visual monitoring and quantitative data recording of the load, which is completely unable to meet the core requirements of precise and personalized rehabilitation.

[0007] Current rehabilitation devices and methods on the market are significantly deficient in meeting the needs of patients with lower limb fractures for recumbent, single-leg, and precisely controlled axial weight-bearing training. There are no smart devices specifically designed for patients undergoing lower limb fracture surgery that allow them to safely and controllably perform unilateral axial weight-bearing training on their affected limb while lying flat (in bed). This prevents patients from promptly initiating critical training to simulate weight-bearing and promote healing during the safe period of bed rest. Furthermore, traditional bed-based exercise methods or other auxiliary means (such as sandbags and elastic bands) cannot precisely control the magnitude, loading / unloading rate, and hold time of the axial load applied to a single limb. Even some recumbent lower limb training devices exist, but they are typically designed for simultaneous training of both limbs. This model fails to meet the practical needs of patients requiring training on only one affected limb (such as unilateral tibial fractures), resulting in low device utilization, inconvenient operation, and low cost-effectiveness. More importantly, it fails to provide independent, focused load stimulation and precise monitoring of the affected limb.

[0008] Therefore, there is a clear gap in the prior art: there is an urgent need for an intelligent weight-bearing training system and method designed specifically for bedridden patients, which can achieve independent, precise and controllable axial load application of the lower limb (affected limb). This system can break through the bottleneck of early rehabilitation, allowing patients to receive scientific and individualized axial stress stimulation during safe bed rest, maximizing the use of the early window period of fracture healing, while meeting the urgent needs of modern rehabilitation medicine for efficient, safe, precise and intelligent rehabilitation. SUMMARY

[0009] To solve the problems in the prior art, the present application provides a single lower limb intelligent weight-bearing training system suitable for bed rehabilitation, comprising:

[0010] A single lower limb training structure, comprising a force applying part and a wearing part, the wearing part is worn on the affected limb of the patient in a lying position, and the force applying part is held by the patient or hung on the head bar of the bed, for applying the tension generated by the force applying part on the wearing part to perform weight-bearing training;

[0011] A host connected between the force applying part and the wearing part, for collecting real-time tension generated by the single lower limb training structure in the training process of the patient in real time, disconnecting the power transmission between the force applying part and the wearing part when it is judged that the real-time tension exceeds a preset weight-bearing threshold, and restoring the power transmission between the force applying part and the wearing part when it is judged that the real-time tension does not exceed the weight-bearing threshold.

[0012] Preferably, the wearing part comprises:

[0013] A weight-bearing boot, the weight-bearing boot is provided with a fixed anchor point in the forefoot region and the heel region respectively;

[0014] A pulley, which is opposite to the ankle position of the weight-bearing boot, is connected with the force applying part through the host;

[0015] A tension belt, one end of the tension belt is fixed on one of the fixed anchor points, and the other end of the tension belt is fixed on the other fixed anchor point after passing through the pulley.

[0016] Preferably, the weight-bearing boot comprises:

[0017] A boot sole, the boot sole is provided with the fixed anchor point in the forefoot region and the heel region respectively, the fixed anchor point comprises a rivet embedded in the boot sole and a D-shaped ring sleeved on the rivet;

[0018] A buffer layer, which is arranged on the contact surface between the boot sole and the affected limb.

[0019] Preferably, the host is provided with an electromagnetic clutch and a tension sensor, the electromagnetic clutch connects the pulley and the force applying part to form power transmission between the force applying part and the wearing part, and the host further comprises:

[0020] A storage module is configured to store a training plan set by a medical order, and a maximum weight included in the training plan is taken as the weight threshold;

[0021] A tension acquisition module is electrically connected with the tension sensor and configured to acquire real-time tension detected by the tension sensor in real time during training;

[0022] A clutch control module is electrically connected with the electromagnetic clutch and configured to control the electromagnetic clutch to close when the patient starts training, control the electromagnetic clutch to separate when the real-time tension is not lower than the weight threshold during training, and control the electromagnetic clutch to close when the real-time tension is lower than the weight threshold during training.

[0023] Preferably, the host further comprises:

[0024] A training prompt module is connected with the tension acquisition module and configured to broadcast the real-time tension by voice during training, prompt the patient to increase the tension by voice when the real-time tension is lower than the weight threshold, prompt the patient to decrease the tension by voice when the real-time tension is not lower than the weight threshold, and prompt the patient to approach the threshold by voice when the real-time tension approaches the weight threshold.

[0025] Preferably, the force applying part comprises:

[0026] A holding ring is connected with one end of the traction belt with adjustable length, and the other end of the traction belt is connected with the pulley through the host;

[0027] A fixed buckle is arranged on the traction belt.

[0028] The application further provides a single lower limb intelligent weight training method suitable for lying rehabilitation, which is applied to the single lower limb intelligent weight training method.

[0029] Step S1, real-time tension generated by the single lower limb training structure during training of the patient is acquired in real time;

[0030] Step S2, whether the real-time tension exceeds a preset weight threshold is judged:

[0031] If yes, power transmission between the force applying part and the wearing part is disconnected, and the patient is guided to adjust the tension;

[0032] If no, the power transmission between the force applying part and the wearing part is restored, and the patient is guided to adjust the pulling force.

[0033] Preferably, a pulling force sensor is arranged in the main machine, and the step S1 comprises collecting the real-time pulling force detected by the pulling force sensor in real time during the training.

[0034] Preferably, an electromagnetic clutch is arranged in the main machine, and a pulley is arranged in the wearing part, and the electromagnetic clutch connects the pulley and the force applying part to form the power transmission between the force applying part and the wearing part.

[0035] The step S2 comprises judging whether the real-time pulling force exceeds a preset weight threshold value:

[0036] If yes, the electromagnetic clutch is disconnected to disconnect the power transmission between the pulley and the force applying part, and then the power transmission between the force applying part and the wearing part is disconnected, and the patient is guided to adjust the pulling force.

[0037] If no, the electromagnetic clutch is closed to establish the power transmission between the pulley and the force applying part, and then the power transmission between the force applying part and the wearing part is restored, and the patient is guided to adjust the pulling force.

[0038] The above technical solution has the following advantages or beneficial effects: the main machine is connected between the force applying part and the wearing part of the single lower limb training structure, the power transmission between the force applying part and the wearing part is disconnected / established according to the comparison result of the real-time pulling force of the patient and the weight threshold value required by the training, and the power transmission is immediately disconnected physically when the threshold value is exceeded → bone callus damage is avoided; the training is automatically continued when the load recovery safety range is reached → the treatment continuity is ensured, and the core defects such as uncontrolled load and overload risk in the background technology are completely eliminated. The two work together to realize precise, safe and closed-loop training of single-limb axial load under bedridden conditions for the first time, and systematically solve the core defects such as uncontrolled load, non-quantitative feedback and single-foot training in traditional rehabilitation. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 In a preferred embodiment of the present application, a structure schematic diagram of a single lower limb intelligent weight training system suitable for bed rehabilitation;

[0040] Figure 2 In a preferred embodiment of the present application, a structure schematic diagram of a function module in the main machine;

[0041] Figure 3 In a preferred embodiment of the present application, a flowchart of a single lower limb intelligent weight training method suitable for bed rehabilitation. DETAILED DESCRIPTION

[0042] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. The present invention is not limited to this embodiment, and other embodiments may also fall within the scope of the present invention as long as they conform to the gist of the present invention.

[0043] In a preferred embodiment of the present invention, based on the above problems existing in the prior art, a single lower limb intelligent weight-bearing training system suitable for supine rehabilitation is provided. Figure 1 Shown, including:

[0044] The single lower limb training structure 1 includes a force-applying portion 11 and a wearing portion 12. The wearing portion 12 is worn on the affected limb of a patient in a supine position. The patient applies a pulling force on the force-applying portion 11 of the single lower limb training structure to the wearing portion 12 to perform weight-bearing training.

[0045] The host 2 is connected between the force-applying part 11 and the wearable part 12, and is used to collect the real-time tension generated by the single lower limb training structure 1 in real time during the patient's training process, disconnect the power transmission between the force-applying part 11 and the wearable part 12 when it is judged that the real-time tension exceeds the preset weight threshold, and restore the power transmission between the force-applying part 11 and the wearable part 12 when it is judged that the real-time tension does not exceed the weight threshold.

[0046] Specifically, the single lower limb intelligent weight-bearing training system suitable for supine rehabilitation provided in this embodiment mainly includes two core parts: one is a single lower limb training structure worn on the affected limb, which converts the tension applied by the patient independently into an axial load through mechanical conduction. The principle is that the patient pulls the force-applying part through the host to the wearable part to form a reaction force along the leg on the sole to simulate the ground reaction force (axial load) when standing; the second is a host with integrated intelligent control, which monitors the load in real time and dynamically adjusts the power transmission.

[0047] The single lower limb training structure mainly consists of two parts: the force-applying part held by the patient's hand and the wearable part of the affected limb. It can overcome the pain points of "traditional methods cannot provide controllable axial stress" and "inaccurate direction of external force application" in the background technology, and for the first time realize the precise loading of pure axial load on a single foot in the supine position.

[0048] The host is connected between the force-applying part and the wearable part of the single lower limb training structure. It disconnects / establishes the power transmission between the force-applying part and the wearable part based on the real-time comparison results of the patient's real-time pulling force and the weight threshold required for training. When the threshold is exceeded, the power transmission is physically disconnected immediately to avoid callus damage; when the load returns to the safe range, the training is automatically resumed to ensure the continuity of treatment, completely eliminating the "uncontrollable load size" and "overload risk" in the background technology.

[0049] The two work together to realize precise, safe and closed-loop training of single-limb axial load for the first time under bedridden conditions, and systematically solve the core defects of traditional rehabilitation, such as uncontrolled load, non-quantitative feedback and lack of single-foot training.

[0050] The single-foot wearing training structure completely avoids the problem of healthy side compensation interference data in double-foot equipment (such as the actual force of the affected limb being artificially high due to the force of the healthy side), and reduces the equipment cost by 50%+ compared with double-foot training structure.

[0051] Moreover, compared with the traditional rehabilitation training method which needs to wait for the patient to stand up before training, the single lower limb intelligent weight training system of the application can start training during the patient's bedridden stage, improving the recovery speed.

[0052] Summary: This scheme realizes the cross-border fusion of mechanical precise transmission (single-foot structure) and electronic intelligent constraint (host control), and converts'single-limb safe weight bearing during bedridden period' from clinical ideal to engineering reality, providing the first quantitative controllable axial stress generation system for fracture rehabilitation.

[0053] In the preferred embodiment of the application, as shown in Figure 1 The wearing part 12 comprises:

[0054] The weight-bearing boots 121 are respectively provided with fixed anchor points 1211 in the forefoot region and the heel region;

[0055] The pulley 122 is connected with the force applying part 11 through the host 2 opposite to the ankle position of the weight-bearing boots 121;

[0056] One end of the tension belt 123 is fixed on one of the fixed anchor points 1211, and the other end is fixed on the other fixed anchor point 1211 after passing through the pulley 122.

[0057] Specifically, in this embodiment, the structural principle of the single lower limb training structure is that the fixed anchor points 1211 (rivets + D-shaped rings) are arranged in the forefoot region and the heel region, so that the tension of the tension belt 123 can form a closed-loop traction force through the two end anchor points. When the patient pulls the force applying part 11, the tension is transmitted to the pulley 122 through the host 2, and then acts on the anchor points 1211 through the tension belt 123, forming a reaction force in the leg direction on the sole, which accurately simulates the ground reaction force (axial load) when standing, solving the problem of 'inaccurate external force direction' in the traditional method.

[0058] The anchor point position covers the forefoot and the heel, ensuring that the tension is evenly distributed on the entire area of the sole, avoiding local force concentration, and improving the scientific nature of load application.

[0059] The pulley 122 is opposite to the ankle position, and can convert the horizontal pulling force of the force applying part 11 into the axial force perpendicular to the sole, and realize accurate regulation of the force direction through mechanical transmission. The design avoids the problem of deviation of the force transmission path in the traditional method, and makes the patient's pulling force 100% converted into effective axial load.

[0060] The smooth surface of the pulley 122 reduces the friction loss of the pulling force, ensures that the real-time pulling force data collected by the host computer accurately reflects the actual load of the patient, and provides a reliable basis for intelligent control (disconnection / resumption of power transmission).

[0061] In the preferred embodiment of the present application, as shown in Figure 1 The weight-bearing boot 121 comprises:

[0062] The boot sole 1212 is provided with a fixed anchor point 1211 in the forefoot region and the heel region, respectively, and the fixed anchor point 1211 comprises a rivet penetrating into the boot sole and a D-shaped ring sleeved on the rivet.

[0063] The buffer layer 1213 is arranged on the contact surface of the boot sole 1212 and the affected limb.

[0064] Specifically, the D-shaped ring is sleeved on the rivet, facilitating quick disassembly and position adjustment of the pulling belt, and the pulling angle and force can be flexibly adjusted according to the foot size of the patient or the training requirement, thereby enhancing the equipment adaptability.

[0065] The design that the rivet penetrates into the boot sole ensures the connection strength and avoids the pulling belt from falling off during training, thereby ensuring the safety.

[0066] The buffer layer 1213 (such as elastic material) arranged on the contact surface of the boot sole 1212 and the foot can absorb the impact of the axial load on the sole during training, thereby reducing the risk of pressure injury, and is especially suitable for the sensitive feet of patients in the fracture rehabilitation period.

[0067] Moreover, the elastic deformation of the buffer layer 1213 can adapt to the foot contours of different patients, improve the wearing comfort, prolong the training time, and ensure the continuity of the rehabilitation treatment.

[0068] The wearing part 12 accurately transmits the load through the mechanical structure (anchor point 1211, pulley 122, pulling belt 123), and forms a closed loop system with the intelligent control (real-time monitoring, overload disconnection) of the host computer 2. When the real-time pulling force exceeds the threshold value, the host computer disconnects the power transmission to avoid damage to the callus; when the load returns to the safe range, the power transmission is automatically resumed, which not only ensures the safety but also does not interrupt the training, solves the problems of "uncontrollable load" and "overload risk", and forms a closed loop intelligent training system.

[0069] Compared with the traditional standing training, the wearing part supports the patient to perform single foot weight-bearing training during the bed stage, intervenes in the rehabilitation process in advance, shortens the recovery period, and the single foot structure reduces the equipment cost by more than 50%, which has clinical value and economy, and obviously improves the timeliness of bed rehabilitation.

[0070] In the preferred embodiment of the present application, as shown in Figure 1 The host 2 is provided with an electromagnetic clutch 21 and a tension sensor 22, the electromagnetic clutch 21 connects the pulley 122 and the force applying part 11 to form a power transmission between the force applying part 11 and the wearing part 12; the host 2 further comprises:

[0071] The storage module 210 is used for storing the training plan set by the medical order, and the maximum weight included in the training plan is used as the weight threshold;

[0072] The tension acquisition module 220 is electrically connected with the tension sensor 22, and is used for acquiring the real-time tension detected by the tension sensor in real time during the training process;

[0073] The clutch control module 230 is connected with the tension acquisition module 220 and the storage module 210, and is also electrically connected with the electromagnetic clutch 21, and is used for controlling the electromagnetic clutch 21 to be closed when the patient starts training, and is used for controlling the electromagnetic clutch 21 to be separated when the real-time tension is not lower than the weight threshold during the training process, and is used for controlling the electromagnetic clutch 21 to be closed when the real-time tension is lower than the weight threshold during the training process.

[0074] Specifically, in the embodiment, the electromagnetic clutch 21 in the host 2 is the core execution mechanism for realizing the overload protection to prevent the affected limb from being excessively weighted. The working principle and the implementation effect are as follows:

[0075] The core principle is controllable connection and disconnection. The electromagnetic clutch is essentially a “switch” controlled by an electric signal, which is used to connect or disconnect the power (tension) transmission path.

[0076] In the energized state (normal state / training state): when the coil of the electromagnetic clutch 21 is energized, a strong magnetic field is generated, which attracts the armature (armature) and rotor (or friction plate) inside the clutch, so that the input end (connected to the traction belt / tension source) and the output end (connected to the affected limb / foot boot) of the clutch are rigidly connected or tightly coupled through friction. At this time, the tension applied by the patient or the device can be effectively transmitted to the affected limb for weight-bearing training.

[0077] In the power-off state (protection state): when the coil of electromagnetic clutch 21 is powered off, the magnetic field disappears. At this time, the armature (armature) is pushed away from the rotor (or friction plate) by the elastic force of the internal reset spring (or mechanical structure), and the input and output ends are physically separated. At this time, even if the patient or the device continues to exert a pulling force (such as the patient accidentally pulling too hard, or the device continues to run), this pulling force cannot be transmitted to the affected limb because the power transmission path has been cut off.

[0078] The workflow of the host computer includes:

[0079] 1. Real-time monitoring: The miniature tension sensor 22 (the pulley is one) continuously and dynamically measures the tension value actually applied to the affected limb by the tension belt on the foot boot.

[0080] 2. Threshold comparison: The tension acquisition module 220 transmits the real-time tension value to the clutch control module 230 (usually a microcontroller MCU) in the host computer 2 in real time. The clutch control module 230 compares this real-time tension value with the preset weight threshold. This threshold is set in the overload protection module by the doctor or therapist according to the patient's rehabilitation stage, the affected limb's bearing capacity, etc.

[0081] 3. Overrun judgment: When the clutch control module 230 determines that the real-time tension value exceeds the preset safety threshold, it means that the affected limb is bearing a load that exceeds its safe range, and there is a risk of excessive weight bearing and even injury.

[0082] 4. Trigger protection: The clutch control module 230 immediately sends a power-off command to the electromagnetic clutch.

[0083] 5. Clutch action cuts off power transmission: After receiving the power-off command, the electromagnetic clutch 21 is powered off instantaneously, and the magnetic field disappears. The reset spring (or mechanical structure) quickly pushes the armature (armature) away from the rotor (friction plate). The clutch input / output end is separated, so that the tension from the traction belt (whether pulled by the patient's hand or driven by some power mechanism) is physically interrupted. Even if the source of the pulling force is still pulling (such as the patient's hand is still pulling), the affected limb is no longer under tension.

[0084] 6. Protection takes effect: The weight bearing of the affected limb is instantly reduced to zero or a very low level, avoiding potential damage (such as nonunion of fractures, soft tissue sprains, joint damage, etc.) caused by excessive weight bearing.

[0085] The key point to achieve the effect of "preventing excessive weight bearing of the affected limb" is:

[0086] 1. Fast response: The separation action of the electromagnetic clutch is usually completed within milliseconds, which can respond instantly to sudden overload, which is a speed advantage that mechanical clutches cannot match, and is crucial for protecting fragile rehabilitation tissues.

[0087] 2. Precise control: The action is fully controlled by electrical signals, closely integrated with the control unit (software logic), and can accurately perform the action when the set threshold is reached.

[0088] 3. Reliable disconnection: The design of power-off disconnection ensures that the clutch will automatically disconnect and enter a protection state when power is lost (such as accidental power failure) or the protection trigger is activated, which is a fail-safe design.

[0089] 4. Stepless adjustment (indirect): Although the clutch itself is a switch action (on / off), by precisely setting the tension threshold, it actually achieves stepless adjustment and limitation of the maximum load of the affected limb.

[0090] 5. Linkage with tension sensor: The sensor provides real-time data, which is the premise of triggering protection. The tension sensor is directly connected in the power transmission path (between the pulley and the force application part), which can capture real-time data of each set of tension applied by the patient, with an accuracy of grams (such as ±5g). This design avoids the errors of indirect measurement (such as pressure shoe pads), ensuring that the load data obtained by the host is consistent with the actual force on the affected limb, providing a reliable basis for intelligent control. The tension acquisition module continuously monitors the data at a high sampling frequency (such as 100Hz), and synchronously transmits it to the clutch control module, achieving a millisecond-level closed-loop response of "acquisition-judgment-execution", and eliminating the phenomenon of load overshoot (such as the instantaneous overload when the patient suddenly exerts force).

[0091] In summary, the electromagnetic clutch is like an extremely sensitive "safety switch" controlled by the host (control unit), installed on the path of tension transmission. The tension sensor is the "eyes", constantly monitoring the tension. Once the "eyes" find that the tension exceeds the safety red line (threshold) set by the doctor, the computer immediately orders the electromagnetic clutch "switch" to disconnect (power-off disconnection), which "cuts off" the excessive tension that would harm the affected limb. This rapid, reliable, and precise power-off disconnection feature is the core mechanism for achieving the protection effect of preventing overloading of the affected limb.

[0092] In the preferred embodiment of the present application, as shown in Figure 2 the host 2 further includes:

[0093] a training prompt module 240 connected to the tension acquisition module 220, for real-time tension through voice broadcast during training, and for voice prompt to the patient to increase tension when the real-time tension is judged to be lower than the load threshold, and for voice prompt to the patient to reduce tension when the real-time tension is judged to be not lower than the load threshold, and for voice prompt to the patient to approach the threshold when the real-time tension is judged to be close to the load threshold.

[0094] Specifically, in this embodiment, the real-time tension value is broadcast in real time through voice (such as "current load 3.2 kg"), so that the patient can dynamically perceive the state of his own force without looking at the device screen, and the abstract mechanical parameter is converted into audible information. This design is especially suitable for the visual limitations of patients in a lying position, making the training process more immersive.

[0095] When the real-time tension is lower than the threshold value (such as a threshold value of 5 kg and a current value of 3 kg), the system prompts "insufficient load, please increase the force" through voice, guiding the patient to gradually approach but not exceed the upper limit of the safe load. This "critical stimulation" training mode meets the mechanical environment requirements of callus growth (Wolf's law), promoting fracture healing while avoiding stress shielding.

[0096] When the tension approaches or reaches the threshold value (such as 4.8 kg→5.0 kg), the system issues a warning through voice gradient (such as increasing speed and pitch), prompting the patient "about to overload, please maintain the current force", helping the patient establish proprioceptive memory and gradually master the safe force range.

[0097] The electromagnetic clutch 21 is linked with the training prompt module 240, and the voice prompt and the electromagnetic clutch form a "soft warning + hard cut-off" double protection. When the tension reaches 90% of the threshold value (such as 4.5 kg), the voice issues a first-level warning; when it reaches 100% of the threshold value, the clutch physically cuts off the power transmission, and the voice prompts "load exceeds the limit, training paused". This design reduces the probability of human error to less than 0.1%, especially suitable for elderly patients or groups with divided attention.

[0098] In a preferred embodiment of the present application, as shown in Figure 1 The force applying part 11 includes:

[0099] The holding ring 111 is connected to one end of the adjustable length traction belt 112, and the other end of the traction belt 112 is connected to the pulley 122 through the main machine 2;

[0100] The traction belt 112 is provided with a fixed buckle 113.

[0101] Specifically, in this embodiment, the traction belt is firm and the length is adjustable, and the fixed buckle is used to fix the length after adjusting to a suitable length for the patient; the terminal is a patient-friendly holding ring, which is convenient for the patient to pull without hurting the hand.

[0102] The present application also provides a single lower limb intelligent weight training method suitable for lying rehabilitation, which is applied to the single lower limb intelligent weight training method as described above, as shown in Figure 3 The single lower limb intelligent weight training method includes:

[0103] Step S1, real-time tension generated by the single lower limb training structure is collected in real time during the training of the patient;

[0104] Step S2, judging whether the real-time pulling force exceeds a preset weight threshold value:

[0105] If yes, disconnecting the power transmission between the force applying part and the affected limb, and guiding the patient to adjust the pulling force;

[0106] If no, resuming the power transmission between the force applying part and the affected limb, and guiding the patient to adjust the pulling force.

[0107] In the preferred embodiment of the present application, the pulling force sensor is arranged in the main machine, and step S1 comprises collecting the real-time pulling force detected by the pulling force sensor in real time during the training process.

[0108] In the preferred embodiment of the present application, the electromagnetic clutch is arranged in the main machine, and the pulley is arranged in the wearing part, and the electromagnetic clutch connects the pulley and the force applying part to form the power transmission between the force applying part and the wearing part.

[0109] Step S2 comprises judging whether the real-time pulling force exceeds a preset weight threshold value:

[0110] If yes, disconnecting the power transmission between the force applying part and the affected limb, and guiding the patient to adjust the pulling force;

[0111] If no, resuming the power transmission between the force applying part and the affected limb, and guiding the patient to adjust the pulling force.

[0112] The above is only the preferred embodiment of the present application, and does not limit the implementation and protection scope of the present application. For those skilled in the art, it should be realized that any equivalent replacement and obvious changes made according to the present application and the drawings should be included in the protection scope of the present application.​

Claims

1. A single lower limb intelligent weight-bearing training system suitable for supine rehabilitation, characterized in that: include: A single lower limb training structure includes a force-applying portion and a wearing portion. The wearing portion is worn on the affected limb of a patient in a recumbent position. The force-applying portion is held by the patient or hung on the headboard of a hospital bed, and is used to apply the tension generated by the force-applying portion to the wearing portion for weight-bearing training. The host is connected between the force-applying part and the wearable part, and is used to collect the real-time tension generated by the single lower limb training structure in real time during the patient's training process, disconnect the power transmission between the force-applying part and the wearable part when it is judged that the real-time tension exceeds a preset weight threshold, and restore the power transmission between the force-applying part and the wearable part when it is judged that the real-time tension does not exceed the weight threshold.

2. The single lower limb intelligent weight-bearing training system according to claim 1, characterized in that: The wearing portion includes: Weight-bearing boots, each having a fixed anchor point at the forefoot area and the heel area; a pulley, facing the ankle of the weight-bearing boot, and connected to the force-applying part through the main unit; A tension belt, one end of which is fixed to one of the fixed anchor points, and the other end of which is fixed to another fixed anchor point after passing over the pulley.

3. The single lower limb intelligent weight-bearing training system according to claim 2, characterized in that: The weight-bearing boots include: A boot sole, wherein the fixing anchor points are respectively provided at the forefoot area and the heel area of ​​the boot sole, and the fixing anchor points include rivets driven into the boot sole and D-shaped rings sleeved on the rivets; A buffer layer is provided on the contact surface between the sole of the boot and the affected limb.

4. The single lower limb intelligent weight-bearing training system according to claim 2, characterized in that: The host is provided with an electromagnetic clutch and a tension sensor, wherein the electromagnetic clutch connects the pulley with the force applying part to form power transmission between the force applying part and the wearable part, and the host further includes: a storage module, configured to store a training plan set by a doctor's order, and use the maximum weight load included in the training plan as the weight load threshold; a tension collection module, electrically connected to the tension sensor, for collecting the real-time tension detected by the tension sensor during training; A clutch control module is connected to the tension acquisition module and the storage module, and is also electrically connected to the electromagnetic clutch. It is used to control the electromagnetic clutch to close when the patient starts training, and to control the electromagnetic clutch to separate when it is judged that the real-time tension is not lower than the weight threshold during training, and to control the electromagnetic clutch to close when it is judged that the real-time tension is lower than the weight threshold during training.

5. The single lower limb intelligent weight-bearing training system according to claim 2, characterized in that: The host also includes: A training prompt module is connected to the tension acquisition module and is used to broadcast the real-time tension by voice during training, and when it is judged that the real-time tension is lower than the weight-bearing threshold, prompt the patient to increase the tension by voice, and when it is judged that the real-time tension is not lower than the weight-bearing threshold, prompt the patient to reduce the tension by voice, and when it is judged that the real-time tension is close to the weight-bearing threshold, prompt the patient to approach the threshold by voice.

6. The single lower limb intelligent weight-bearing training system according to claim 2, characterized in that: The force applying portion includes: A gripping ring, wherein the gripping ring is connected to one end of a traction belt with adjustable length, and the other end of the traction belt is connected to the pulley through the main machine; A fixing buckle is provided on the traction belt.

7. A single lower limb intelligent weight-bearing training method suitable for supine rehabilitation, characterized in that: The single lower limb intelligent weight-bearing training method according to any one of claims 1 to 6 comprises: Step S1, collecting the real-time tension generated by the single lower limb training structure in real time during the patient's training process; Step S2: Determine whether the real-time pulling force exceeds a preset load threshold: If yes, disconnect the power transmission between the force-applying part and the wearable part, and guide the patient to adjust the pulling force; If not, the power transmission between the force-applying portion and the wearing portion is restored, and the patient is guided to adjust the pulling force.

8. The single lower limb intelligent weight-bearing training method according to claim 7, characterized in that: A tension sensor is provided in the host, and step S1 includes collecting real-time tension detected by the tension sensor during training.

9. The single lower limb intelligent weight-bearing training method according to claim 7, characterized in that: The host is provided with an electromagnetic clutch, the wearable part includes a pulley, and the electromagnetic clutch connects the pulley with the force-applying part to form power transmission between the force-applying part and the wearable part; The step S2 includes determining whether the real-time pulling force exceeds a preset load threshold: If so, disconnecting the electromagnetic clutch to disconnect the power transmission between the pulley and the force-applying part, and further disconnecting the power transmission between the force-applying part and the wearable part, and guiding the patient to adjust the tension; If not, the electromagnetic clutch is closed to establish power transmission between the pulley and the force-applying portion, thereby restoring power transmission between the force-applying portion and the wearable portion, and guiding the patient to adjust the tension.

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