Wearable multi-mode cerebral apoplexy rehabilitation device and method

Abstract

The invention relates to the technical field of medical instruments, in particular to a wearable multi-mode cerebral apoplexy rehabilitation device and method. The device comprises a supporting frame, a wearing assembly, a vibration circulation promoting module, an air pressure sequential extrusion module and a central control unit, the central control unit takes an ATMEga128 single-chip microcomputer as a core and is connected with peripheral equipment such as an angle sensor and a pressure sensor, and all the modules are controlled to operate through a ULN2003 driving chip. The core cooperation logic is that when the supporting platform inclines to a preset angle, sequential vibration massage of limbs on the same side and air pressure extrusion from the far end to the near end are automatically triggered, and meanwhile double safety protection is achieved by combining a Hall sensor and an inductive sensor. According to the device, multi-mode rehabilitation means linkage is achieved, anti-bedsore body position management is carried out, the rehabilitation efficiency is improved, the nursing burden is reduced, and the device is suitable for hospitals and home scenes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a wearable multi-modal stroke rehabilitation device and method. BACKGROUND

[0002] Stroke has the characteristics of high incidence, high disability rate and high mortality. Stroke rehabilitation is a key means to reduce disability rate, and the earlier the rehabilitation intervention, the better the functional recovery of the patient.

[0003] Early rehabilitation of stroke patients needs to include joint range of motion exercises, good limb position maintenance, and body position transfer training. The rehabilitation exercise of bedridden patients mainly relies on passive training of limbs, and long-term bedridden can cause complications such as neuromuscular function decline, deep vein thrombosis, and joint contracture, while reducing the brain plasticity and functional reorganization potential.

[0004] Currently, the limb rehabilitation training and pressure sore nursing of stroke patients mainly rely on manual operation, which has the problems of low efficiency, heavy nursing burden, and unquantifiable treatment parameters. Most rehabilitation equipment has single function and cannot realize the synergistic effect of body position adjustment, vibration massage, and air pressure extrusion, and it is difficult to be linked with hospital information systems, which cannot meet the individualized and intelligent rehabilitation treatment needs. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a wearable multi-modal stroke rehabilitation device and method, which integrates body position adjustment, sequential vibration massage, and air pressure sequential extrusion functions to realize multi-modal synergistic rehabilitation treatment, and uses closed-loop feedback control and safety protection mechanism to improve the accuracy and safety of treatment, solving the problems of low efficiency of manual nursing and single function of equipment.

[0006] The present application provides a wearable multi-modal stroke rehabilitation device, which comprises:

[0007] a support frame, the support frame comprising a support platform and an angle adjustment structure for adjusting the angle of the support platform; a wearing assembly for covering the patient's limbs; a vibration circulation promoting module and an air pressure sequential extrusion module integrated on the wearing assembly; and, a central control unit electrically connected with the angle adjustment structure, the vibration circulation promoting module and the air pressure sequential extrusion module respectively; The central control unit is configured to control the angle adjustment structure to adjust the angle of the support platform, control the vibration circulation promoting module to perform vibration massage, and / or control the air pressure sequential extrusion module to perform extrusion massage according to the preset or received control instructions.

[0008] Optionally, the central control unit comprises a single-chip microcomputer, and an angle sensor and a pressure sensor connected to the single-chip microcomputer, the angle sensor and the pressure sensor being used for supporting the angle of the platform and the pressure of the air bag respectively, and constituting a closed-loop feedback control.

[0009] Optionally, the device further comprises a body position adjusting device. The body position adjusting device comprises a support and a traction structure, one end of the traction structure being fixed to the support, and the other end being used for fixing to the limb of the patient. The length of the traction structure is adjustable, and the length of the traction structure changes to drive the position of the limb of the patient to change.

[0010] Optionally, the vibration circulation promoting module comprises an eccentric motor array controlled by a PWM signal of a single-chip microcomputer, the eccentric motor array being sealed in a sandwich layer of the wearing assembly and being capable of being sequentially started and stopped according to a program to form a matrix scanning type vibration.

[0011] Optionally, the air pressure sequential extrusion module comprises a plurality of independent air cavities, an air pump for inflating the air cavities, an electromagnetic valve for controlling the opening and closing of the air path, and a pressure sensor for monitoring the pressure of the cavities; the central control unit is configured to control the electromagnetic valve to make the plurality of air cavities inflate and deflate in sequence from the distal end to the proximal end of the limb.

[0012] Optionally, the device further comprises a safety protection module, the safety protection module comprising an inductive proximity switch arranged at a limit position of the tilting movement of the support platform, and being used for sending a signal to make the central control unit stop the tilting movement before the support platform reaches the mechanical limit.

[0013] Optionally, the single-chip microcomputer controls the eccentric motor of the vibration circulation promoting module through a ULN2003 driving chip, and controls the electromagnetic valve of the air pressure sequential extrusion module through another ULN2003 driving chip.

[0014] Optionally, the central control unit further comprises a communication interface, which is used for connecting an external medical information system to receive a control instruction and return treatment process data.

[0015] The application also provides a wearable multi-modal stroke rehabilitation method, which adopts the device as described above, and the method comprises the following steps: Fixing the affected limb of the patient to the wearing assembly of the device; Starting a cooperative rehabilitation program through the central control unit; The cooperative rehabilitation program controls the device to perform the following at least two modes of cooperative action on the same affected limb: periodic body position tilting, sequential matrix vibration massage, and air pressure sequential extrusion from the distal end to the proximal end.

[0016] Optionally, the synergistic effect is that when the body position is tilted to a preset angle, automatic triggering of vibration massage and air pressure squeezing of the ipsilateral limb.

[0017] Compared with the prior art, the present application has the following beneficial effects: Multi-modal integration improves comprehensive rehabilitation efficiency: The three functions of anti-bedsore body position management, deep tissue vibration massage and air pressure squeezing to promote venous return are integrated in one device, which can simultaneously or sequentially solve multiple rehabilitation problems in one treatment, greatly improving the treatment efficiency.

[0018] Intelligent synergistic control simulates professional techniques: Through the programmatic control of the central control unit (such as a single-chip microcomputer), intelligent linkage between multiple modes (such as angle-triggered vibration and squeezing) can be achieved, simulating the combined techniques of rehabilitation physicians, and the treatment effect is better.

[0019] Closed-loop feedback ensures safety and accuracy: The introduction of angle sensors and pressure sensors forms a closed-loop feedback control of the tilt angle and squeezing pressure, ensuring the safety of the treatment process and accurately executing the preset treatment parameters.

[0020] Reduces nursing burden and supports home rehabilitation: The automatic operation of the device significantly reduces the labor intensity of manual operation by medical staff, and its integrated and controllable design makes it also suitable for home environment, facilitating patients to conduct continuous rehabilitation training. BRIEF DESCRIPTION OF DRAWINGS

[0021] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description of embodiments of the present application, taken in conjunction with the accompanying drawings. The drawings provided in the specification and the embodiments of the present application together serve to explain components of the present application by providing a further understanding. They do not constitute a limitation on the present application. In the drawings, the same reference numerals generally refer to the same components or steps throughout the drawings.

[0022] Figure 1 is a structural schematic diagram of a wearable multi-modal stroke rehabilitation device provided by an embodiment of the present application; Figure 2 is a side view schematic diagram of a wearable multi-modal stroke rehabilitation device provided by an embodiment of the present application; Figure 3 is a partial top view schematic diagram of a wearable multi-modal stroke rehabilitation device provided by an embodiment of the present application; Figure 4 is a wearing schematic diagram of a wearable multi-modal stroke rehabilitation device provided by an embodiment of the present application; Figure 5 is a cross-sectional schematic diagram of a wearing assembly provided by an embodiment of the present application; Figure 6is a schematic diagram of a wearable assembly provided by an embodiment of the present application; Figure 7 is a flowchart of a scheme provided by an embodiment of the present application. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work are within the scope of protection of the present application.

[0024] Referring to Figure 1 The wearable multi-modal stroke rehabilitation device provided by the present application is an intelligent medical instrument designed for limb function rehabilitation and bed sore prevention of stroke patients. The device realizes multi-modal rehabilitation treatment of body position adjustment, vibration massage and air pressure extrusion through the cooperative operation of multiple modules, and the core structure and functions are as follows: The support frame 1 includes a support platform 12 and an angle adjustment structure 11 for adjusting the angle of the support platform 12. Specifically, referring to Figure 2 The support frame 1 is the basic bearing structure of the device, mainly composed of a support platform 12 and an angle adjustment structure 11. The surface of the support platform 12 is designed according to human engineering, which can provide comfortable and stable lying or leaning support for the patient. The platform edge can also be matched with fixing members such as straps to prevent the patient from shifting during treatment. The angle adjustment structure 11 is installed at the bottom of the support platform 12, and an electric hydraulic push rod is usually selected as the driving component. The push rod has the characteristics of large thrust and smooth operation, and can drive the support platform 12 to adjust the left and right inclination by 15-35 degrees. By periodically changing the inclination angle of the support platform 12, the stress position of the patient's limbs can be adjusted in real time, avoiding long-term pressure on the local body and reducing the probability of bedsores from the root.

[0025] The wearable assembly 2 is used for covering the patient's limbs. The wearable assembly 2 is a flexible component that directly acts on the patient's limbs, and is used for tightly covering the patient's upper or lower affected limbs. Referring to Figure 3 、 Figure 4 、 Figure 5 、 Figure 6The assembly adopts a double-layer air-tight structure made of PVC material, the outer layer 21 plays a protective and fixing role, and the inner layer 22 is attached to the skin of the patient to ensure the sealing during the treatment. The size of the wearing assembly 2 is designed according to the limb characteristics of different populations, the length of the male upper limb assembly is 30-35 cm, the length of the lower limb assembly is 60-75 cm, the length of the female upper limb assembly is 25-30 cm, and the length of the lower limb assembly is 55-65 cm. The actual limb size of the patient can be flexibly selected and matched to ensure that the coating is tight and has no looseness. At the same time, the interlayer of the wearing assembly 2 reserves a mounting space, which is specially used to integrate the vibration circulation promoting module and the air pressure sequential extrusion module.

[0026] The vibration circulation promoting module and the air pressure sequential extrusion module integrated in the wearing assembly 2; the vibration circulation promoting module and the air pressure sequential extrusion module are core functional modules for realizing limb rehabilitation treatment, both of which are integrated in the interlayer of the wearing assembly 2. The vibration circulation promoting module is composed of a plurality of micro eccentric motors 24 arranged in a matrix form. The motor can generate a gentle vibration wave when running, which acts on the muscle and blood vessel parts of the patient's affected limb, can effectively relieve muscle spasm, and promote local blood circulation. The air pressure sequential extrusion module includes a plurality of independent air chambers 23, an air pump and a solenoid valve. The plurality of air chambers are arranged in the direction from the distal end to the proximal end of the limb. The air pump provides a stable air source for the air chamber, and the solenoid valve is responsible for controlling the inflation and deflation timing of the single air chamber. When working, the air chamber inflates and deflates in sequence from the distal end to the proximal end of the limb, forming a gradient pressure, assisting the blood flow of the affected limb, improving the microcirculation of the brain, and creating favorable conditions for the recovery of nerve function.

[0027] The central control unit 4 is electrically connected with the angle adjusting structure 11, the vibration circulation promoting module and the air pressure sequential extrusion module respectively; wherein the central control unit 4 is configured to: according to a preset or received control instruction, control the angle adjusting structure 11 to adjust the angle of the support platform 12, control the vibration circulation promoting module to perform vibration massage, and / or control the air pressure sequential extrusion module to perform extrusion massage.

[0028] The central control unit 4 is the "control center" of the entire device, and is electrically connected with the angle adjusting structure 11 of the support frame 1, the vibration promoting circulation module and the air pressure sequential extrusion module on the wearing assembly 2 respectively. The unit takes a high-performance single-chip microcomputer as the main control core, and is internally provided with a preset rehabilitation treatment program, and can also receive personalized treatment instructions issued by an external medical information system. In work, the central control unit 4 can flexibly control the running state of each module according to the actual treatment needs: the angle adjusting structure 11 can be controlled to adjust the angle of the support platform 12, the vibration promoting circulation module can be started alone for vibration massage, or the air pressure sequential extrusion module can be controlled alone for air pressure extrusion; or multiple modules can be controlled to be synchronously linked, for example, when the support platform 12 is inclined to a preset angle, the vibration massage and air pressure extrusion of the same side limb are automatically triggered to realize the synergistic effect of multiple modalities of rehabilitation means. This flexible control mode can fully meet the individualized rehabilitation treatment needs of different patients and improve the overall treatment effect.

[0029] In some embodiments, the central control unit 4 comprises a single-chip microcomputer, and an angle sensor and a pressure sensor connected with the single-chip microcomputer, which are respectively used for the angle of the support platform 12 and the pressure of the air bag to constitute a closed-loop feedback control.

[0030] The central control unit 4 is the core control part of the whole device to realize precise and stable operation, which takes a single-chip microcomputer as the main control core, and is also provided with an angle sensor and a pressure sensor electrically connected with the single-chip microcomputer, to form a closed-loop feedback control system through the data feedback of the two types of sensors, so as to ensure that the running parameters of each rehabilitation module always meet the preset treatment needs.

[0031] Preferably, the single-chip microcomputer is an ATMEga128 chip, which has rich programmable I / O interface resources and can realize the instruction output and running state monitoring of the angle adjusting structure 11, the vibration promoting circulation module and the air pressure sequential extrusion module at the same time. The angle sensor is installed at the angle adjusting structure 11 of the support frame 1, can collect the inclination angle data of the support platform 12 in real time, and feedback the data to the single-chip microcomputer in time. When the actual inclination angle of the support platform 12 deviates from the preset angle, the single-chip microcomputer will automatically issue an adjustment instruction to drive the angle adjusting structure 11 to correct the platform angle, so as to ensure that the platform is always precisely inclined within the safe treatment range of 15-35 degrees.

[0032] The pressure sensor is connected with the independent air cavity 23 of the air pressure sequential extrusion module, used for monitoring the pressure value of the air cavity after inflation in real time, and transmitting the pressure data to the single-chip microcomputer. The single-chip microcomputer compares the actual pressure value received with the preset treatment pressure value, and when the actual pressure is too high or too low, the start and stop of the air pump and the electromagnetic valve are timely controlled to adjust the inflation and deflation state of the air cavity, so as to ensure that the air pressure extrusion is stable and uniform, and avoid causing additional damage to the patient's limbs due to improper pressure.

[0033] Through the double data feedback of the angle sensor and the pressure sensor, the central control unit 4 forms a perfect closed-loop feedback control, so that the body position adjustment and air pressure extrusion functions of the device can accurately execute the preset program, and the safety and effectiveness of the rehabilitation treatment are improved.

[0034] In order to further improve the passive exercise rehabilitation effect of the affected limb, the wearable multi-modal stroke rehabilitation device is also provided with a body position adjusting device 3 for assisting the patient to complete the limb lifting and stretching passive training, and strengthening the recovery effect of the joint activity of the upper and lower limbs. The body position adjusting device 3 comprises a support and a traction structure; one end of the traction structure is fixed to the support, and the other end is used for fixing to the limb of the patient; the length of the traction structure is adjustable; when the length of the traction structure changes, the position of the limb of the patient changes.

[0035] Specifically, the body position adjusting device 3 mainly consists of a support and a traction structure. The support, as a fixed carrier, can be stably installed on the side or end of the support frame 1, and its height and width can be flexibly adjusted according to the body type and treatment position of the patient, to ensure the adaptability to the support platform 12. One end of the traction structure is rigidly fixed to the support, and the other end is fixed to the limb parts such as the wrist and ankle of the patient through flexible straps or buckle parts, and the fixing method takes into account the firmness and comfort, to avoid causing compression to the patient's limbs.

[0036] The length of the traction structure has an adjustable function, and its power source can be selected from a micro stepping motor or an electric push rod, which is electrically connected with the central control unit 4 to receive the main control instruction and complete the accurate extension and contraction of the length. When the length of the traction structure changes, the patient's limb will be lifted or lowered synchronously, to simulate the normal limb activities such as raising hands and lifting legs. For example, for the upper limb hemiplegic patient, the traction structure can slowly lift the patient's arm from the natural drooping state to the preset height, and then smoothly fall back; for the lower limb patient, it can assist to complete the actions such as knee bending and leg stretching, effectively exercise the muscle strength of the affected limb, and prevent joint contracture and muscle atrophy.

[0037] In addition, the movement speed, lifting height, action cycle and other parameters of the traction structure can be personalized set through the central control unit 4, which can not only complete the limb traction training alone, but also can be linked with the angle adjustment, vibration massage, air pressure extrusion and other function modules of the support platform 12 to realize multidimensional collaborative rehabilitation treatment.

[0038] The vibration promotion circulation module includes an eccentric motor array controlled by a single-chip microcomputer PWM signal, which is sealed in the interlayer of the wearable assembly 2 and can be sequentially started and stopped according to the program to form a matrix scanning vibration. Specifically, the vibration promotion circulation module is the core functional component for realizing vibration massage and promoting blood circulation of the affected limb, and its core execution unit is an eccentric motor array composed of multiple miniature eccentric motors 24 arranged in a preset matrix form and integrally sealed in the interlayer of the wearable assembly 2. It can be fitted to the muscle and blood vessel distribution area of the patient's limb for treatment. The running state of the eccentric motor array is precisely controlled by the PWM pulse signal output by the single-chip microcomputer of the central control unit 4. The single-chip microcomputer can adjust the duty cycle of the PWM signal to change the input voltage of the eccentric motor, thereby realizing multi-gear adjustment of the vibration intensity to meet the tolerance and treatment needs of different patients. At the same time, the eccentric motor array is not started and stopped synchronously as a whole, but realizes sequential start-stop control according to the rehabilitation program pre-stored in the central control unit 4. When working, the eccentric motors in different areas will be started and stopped in turn according to the set time sequence to form a dynamic vibration mode similar to matrix scanning. This vibration mode can gently massage the affected limb in different areas with rhythm, effectively relieve muscle spasm, promote local blood circulation, and at the same time avoid the discomfort of the patient caused by continuous vibration of a single area. The connection between the module and the central control unit 4 uses ULN2003 driver chip as a relay, and the control signal output by the single-chip microcomputer is amplified by the driver chip and then transmitted to the eccentric motor array, ensuring stable transmission of control instructions and reliable operation of the motor. The air pressure sequential extrusion module includes multiple independent air chambers 23, an air pump for inflating the air chambers, an electromagnetic valve for controlling the opening and closing of the air path, and a pressure sensor for monitoring the chamber pressure; the central control unit 4 is configured to control the electromagnetic valve to make the multiple air chambers inflate and deflate in sequence from the distal end to the proximal end of the limb.

[0039] In some embodiments, to further enhance the safety of the device operation and avoid the support platform 12 from tilting beyond the safety threshold to cause damage to the patient, the wearable multi-modal stroke rehabilitation device is also configured with a safety protection module. The safety protection module includes an inductive proximity switch arranged at the limit position of the tilting movement of the support platform 12, which is used to send a signal to stop the tilting movement of the central control unit 4 before the support platform 12 reaches the mechanical limit. The core component of the safety protection module is the inductive proximity switch, which is precisely installed at the limit position of the tilting movement of the support platform 12, and the detection distance and installation position are strictly calculated to ensure that the inductive action is triggered before the support platform 12 reaches the mechanical limit.

[0040] The signal output end of the inductive proximity switch is electrically connected to the single-chip microcomputer of the central control unit 4. When the support platform 12 moves to the limit position under the drive of the angle adjustment structure 11, the proximity switch will sense the displacement change of the platform and immediately send a high-level trigger signal to the single-chip microcomputer.

[0041] After receiving the signal, the single-chip microcomputer will immediately issue a stop command to control the angle adjustment structure 11 to stop power output, and the support platform 12 will immediately stop tilting, thereby forming a reliable safety barrier to prevent equipment failure or patient limb compression risk caused by platform over-tilting.

[0042] In some embodiments, the single-chip microcomputer controls the eccentric motor of the vibration promoting circulation module through a ULN2003 drive chip, and controls the electromagnetic valve of the air pressure sequential extrusion module through another ULN2003 drive chip. Considering the limited driving current output by the I / O interface of the single-chip microcomputer, it is difficult to directly drive the eccentric motor of the vibration promoting circulation module and the electromagnetic valve of the air pressure sequential extrusion module. Therefore, two ULN2003 drive chips are used as intermediate drive units to realize stable control of the two functional modules by the single-chip microcomputer.

[0043] One of the ULN2003 drive chips is connected to the designated I / O interface of the single-chip microcomputer, and the input end receives the PWM control signal output by the single-chip microcomputer. After current amplification by the Darlington transistor array inside the chip, the output end transmits the signal to the eccentric motor array of the vibration promoting circulation module. This driving method can provide stable working current for the eccentric motor, ensuring that the motor realizes sequential start-stop according to the preset frequency and intensity, and accurately completes the matrix scanning vibration action.

[0044] Another piece of ULN2003 drive chip is also connected with the corresponding I / O interface of the single-chip microcomputer, the input end receives the air path on-off control instruction issued by the single-chip microcomputer, and outputs to each electromagnetic valve of the pneumatic sequential extrusion module after current amplification. Through the transfer control of the drive chip, the single-chip microcomputer can flexibly control the switching time sequence of different electromagnetic valves, thereby realizing the ordered inflation and deflation of multiple independent air chambers 23 from the distal end to the proximal end of the limb, and ensuring the accuracy and smoothness of pneumatic extrusion treatment.

[0045] The ULN2003 drive chip has the characteristics of high voltage resistance and large current, which can effectively match the working requirements of the eccentric motor and the electromagnetic valve, and at the same time play the role of isolating the single-chip microcomputer and the execution component, avoiding the damage of the reverse current of the execution component to the single-chip microcomputer main control chip, and improving the stability and safety of the whole control system.

[0046] In some embodiments, in order to realize intelligent management of the device and precise execution of individualized treatment plan, the central control unit 4 also integrates a communication interface, which is specially used to establish a data interaction link with an external medical information system.

[0047] The communication interface can be an RS232 bus interface, which can directly and seamlessly connect with external medical information systems such as the physician workstation 5 EMR system of the hospital. When working, on the one hand, the central control unit 4 can receive individualized treatment instructions issued by the external medical information system through the communication interface, including key parameters such as the inclination angle of the support platform 12, the vibration massage intensity and time, the pressure value and cycle period of the pneumatic sequential extrusion, etc., to ensure that the rehabilitation treatment process strictly follows the prescription scheme made by the physician; on the other hand, the central control unit 4 will synchronously return the real-time running data in the treatment process, such as the actual inclination angle of the support platform 12, the real-time pressure value of the air bag, the working state of the vibration module, etc., to the external medical information system through the communication interface.

[0048] These returned data will be automatically stored and archived by the medical information system, which is convenient for the physician to monitor the treatment process of the patient, evaluate the rehabilitation effect, and timely adjust the subsequent treatment scheme according to the recovery condition of the patient. At the same time, the setting of the communication interface also enables the device to access the intelligent medical equipment management network of the hospital, realize remote device state monitoring and fault warning, and further improve the clinical application convenience and management efficiency of the device.

[0049] Referring Figure 7 , the application also provides a wearable multi-modal stroke rehabilitation method, which is applied to the above-mentioned device, and the method comprises the following steps: Step 101, fixing the patient's affected limb on the wearable assembly 2 of the device; Medical staff selects the wearable assembly 2 of appropriate size according to the size of the patient's limbs, tightly covers and fixes the upper or lower limbs of the patient's hemiplegic side in the wearable assembly 2. During the fixing process, it is necessary to ensure that the wearable assembly 2 is tightly fitted with the limbs without loosening and shifting, and at the same time, the eccentric motor array of the vibration circulation promoting module and the independent air cavity 23 of the air pressure sequential extrusion module are all aligned with the target treatment site of the affected limb. If the patient also needs limb traction training, the affected limb also needs to be fixed with the traction structure of the body position adjusting device 3, and the initial length of the traction structure is adjusted so that the affected limb is in a comfortable functional position.

[0050] Step 102, start the cooperative rehabilitation program through the central control unit 4; Medical staff starts the preset cooperative rehabilitation program through the key control component of the central control unit 4 or issues treatment instructions from the external medical information system via the communication interface. Before starting, the inclination angle range of the support platform 12, the inclination period, the intensity and duration of the vibration massage, the pressure value and the inflation and deflation timing of the air pressure sequential extrusion, and other core parameters can be set individually according to the patient's condition and tolerance. After the parameter setting is completed, the central control unit 4 performs system self-checking, confirms that the angle sensor, pressure sensor, and inductive proximity switch are all working normally, and enters the rehabilitation treatment ready state.

[0051] Step 103, the cooperative rehabilitation program controls the device to perform at least two modes of cooperation on the same affected limb: periodic body position inclination, sequential matrix vibration massage, and air pressure sequential extrusion from the distal end to the proximal end. After the cooperative rehabilitation program is started, the device performs at least two rehabilitation modes of linkage treatment on the same affected limb, and the core cooperation logic is body position inclination trigger linkage: The angle adjustment structure 11 drives the support platform 12 to incline left and right by 15-35 degrees according to the preset period, and when the support platform 12 is inclined to the preset angle, the angle sensor feeds back the angle data to the central control unit 4 in real time; After the central control unit 4 receives the angle feedback signal, it immediately triggers the vibration circulation promoting module and the air pressure sequential extrusion module of the same side limb to run synchronously; The eccentric motor array of the vibration circulation promoting module is sequentially started and stopped according to the program, forming a matrix scanning vibration, gently massaging the muscles of the affected limb, and relieving muscle spasm; The multiple independent air cavities 23 of the air pressure sequential extrusion module sequentially inflate and deflate according to the order from the distal end to the proximal end of the limb, forming a gradient pressure, promoting the blood backflow of the affected limb, and improving the brain microcirculation; During the treatment process, the pressure sensor monitors the air cavity pressure in real time and feeds back to the central control unit 4, forming a closed loop control to ensure the stability of the air pressure extrusion intensity; before the support platform 12 is inclined to the limit position, the inductive proximity switch will trigger the safety protection mechanism to control the platform to stop inclining.

[0052] During the whole cooperative treatment process, the central control unit 4 will return the real-time treatment data to the external medical information system through the communication interface, so as to facilitate the medical staff to monitor the treatment state in real time and timely adjust the treatment scheme.

[0053] Further, the cooperation is that when the body position is inclined to the preset angle, the vibration massage and air pressure extrusion of the ipsilateral limb are automatically triggered. The specific working mechanism is as follows: before treatment, the medical staff presets the inclination threshold angle of the support platform 12 through the central control unit 4, and matches the intensity and duration of the vibration massage of the ipsilateral limb, and the pressure value and inflation and deflation timing of the air pressure sequential extrusion. After the cooperative rehabilitation program is started, the angle adjusting structure 11 drives the support platform 12 to start periodic inclination, and the angle sensor installed on the support frame 1 will collect the platform inclination angle data in real time and feed back the data to the single-chip microcomputer. When the single-chip microcomputer determines that the platform inclination angle reaches the preset threshold, it will immediately output a synchronous control instruction: after the instruction is amplified by the ULN2003 driving chip, on the one hand, it triggers the eccentric motor array in the ipsilateral wearable assembly 2 to start and stop according to the preset program to form a matrix scanning type vibration massage; on the other hand, it starts the air pressure sequential extrusion module to control the independent air cavity 23 to inflate and deflate from the distal end to the proximal end of the limb to realize gradient extrusion. When the support platform 12 returns to the horizontal or non-pre-set angle interval, the single-chip microcomputer will issue a pause instruction, and the vibration massage and air pressure extrusion modules on the ipsilateral side will stop working, and the above linkage logic will be executed again when the platform is inclined to the preset angle again. This cooperative mode triggered by body position inclination can match the effect of vibration massage and air pressure extrusion with the change of the force position of the limb, improve the efficiency of blood circulation promotion, and at the same time avoid the limitation of single rehabilitation method, and optimize the overall rehabilitation treatment effect.

[0054] In combination with the above-mentioned various embodiments, the scheme provided in the present application is further described: The system main program of the wearable multi-modal stroke rehabilitation device comprises a single-chip microcomputer control program, a device initialization program, a timing alternating left and right inclination program, a position feedback safety protection program, a buffer amplification driving program, an alarm buzzer control program, and a power supply control program. Each subprogram is processed by the single-chip microcomputer to cooperatively realize stable system operation and complete the multi-modal rehabilitation exercise function of the patient.

[0055] The power switch button is the total power supply button of the device. After being pressed, the whole machine is connected to the working power supply, the system indicator light is on, the OLED liquid crystal display screen enters the treatment quantitative data Ready interface, and each functional component enters the initialization preparation state synchronously. Press and hold the start button for 5 seconds, and the system enters the initialization and normal operation parameter setting mode. The specific settable parameters are as follows: System self-check: whether to start the system self-check can be selected, and the default is to close the self-check mode; Working mode: divided into manual mode and full-automatic mode, default full-automatic mode, the device completes multi-module collaborative rehabilitation according to the preset program in full-automatic mode; Time and date: accurate setting of year, month, day, hour, minute and second can be realized, which is used for treatment time statistics and data archiving; Vibration massage: time control is divided into 10 minutes, 15 minutes and 20 minutes three gears, which can be selected as needed; ID card recognition: whether to start the rehabilitation time state recognition and recording function can be set, and the default is to start the recording state, which is convenient for patients to trace treatment data; Safety detection: whether to start the boot safety check can be set, and the default is to automatically detect the state of each sensor and executing part after booting; Anti-decubitus tilt: the tilt timing time can be set, the tilt time range is 60-120 seconds, which is increased by 1 hour unit, and the tilt interval time is 15 seconds, which ensures the periodic change of the stress position of the patient's limbs; Alarm setting: the over-angle alarm function can be set, the alarm angle adjustment range is 30-35 degrees, and the default is 35 degrees, which triggers the alarm when the tilt angle of the support platform 12 reaches the threshold.

[0056] The central control unit 4 of the device takes ATMEga128 chip as the main control core. The chip is an enhanced RISC low-power high-speed 8-bit controller produced by ATMEL Company, which adopts Harvard structure and has independent data and program buses. The chip is embedded with 128KB repeatable Flash program memory, 4KB EEPROM and 4KB SRAM, and has 53 programmable I / O interfaces.

[0057] Each I / O interface can be set as input or output function through program, has high level, low level and high resistance three states, and has internal pull-up resistor. When the interface is defined as output state, it is basically not affected by load. The chip has JTAG interface, which can conveniently realize program debugging, downloading and simulation. Its hardware structure adopts local register stack and single high-speed input and output scheme, which is matched with rich instruction set and 32 general working registers, so that the contradiction between system power consumption and processing speed can be effectively balanced.

[0058] The central control unit 4 uses an OLED display screen as a treatment parameter display component. The display screen does not require a backlight, has the characteristics of active light emission, light weight, thin thickness, high brightness, a contrast ratio of up to 28 levels, fast response speed, and low power consumption. The display screen driving chip SSD1306 is highly integrated and packaged on the back of a glass substrate, connected to the ATMEga128 single-chip microcomputer through an I2C bus, and has a simple and compact interface, mainly used for real-time display of parameters such as the inclination angle of the support platform 12, the treatment timing time, and the vibration massage intensity.

[0059] The single-chip microcomputer adjusts the actuator in real time by reading the data of peripheral devices such as angle sensors and pressure sensors, ensures that the actual operating parameters are consistent with the preset values, and feeds back the deviation data to the OLED screen display. Each I / O interface of the ATMEga128 single-chip microcomputer corresponds to three memory addresses, namely the data register PORTx, the data direction register DDRx, and the interface input pin PINx. Among them, PORTx and DDRx are read / write registers, and PINx is a read-only register. DDRx is used to configure the pin direction, with a value of 1 for output and a value of 0 for input; when the pin is in input state, PORTx value of 1 enables the pull-up resistor; when the pin is in output state, PORTx value of 1 outputs high level, and vice versa. When the system is reset, all pins are in tri-state.

[0060] To realize sequential vibration massage and stable control of the inclination of the support platform 12, the I / O interfaces of the ATMEga128 single-chip microcomputer are precisely allocated, and the ULN2003 driving chip is used as a signal buffer amplification component. ULN2003 is a high-voltage and high-current Darlington transistor array composed of seven silicon NPN Darlington transistors. Each pair of Darlington transistors is connected in series with a 2.7K base resistor, which can be directly connected with TTL and single-chip microcomputer I / O interfaces under 5V working voltage, with the characteristics of high current gain, wide temperature range, and strong load capacity, and the output end is directly connected with the execution component.

[0061] The specific allocation scheme of the I / O interface is as follows: PA0-PA6 interface: connected with the input end of the ULN2003 driving chip, outputting the sequential vibration massage control signal to drive the eccentric motor array of the vibration promotion circulation module; PB0-PB6 interface: connected with the keyboard interface and the ISP online programming download module, realizing manual parameter setting and program updating; PC0-PC6 interface: connected with another ULN2003 driving chip, outputting the support platform 12 left and right inclination control signal, and realizing speed regulation through PWM signal; PD0-PD6 interface: control serial interface, clock module, display module and RFID card reader communication, realize the treatment data reading and storage; PE0-PE6 interface: control USB data signal, safety control alarm signal, emergency interrupt, and communicate with physician workstation 5 EMR system through RS232 bus; PF0-PF6 interface: output the inflation and deflation timing control signal of the pneumatic sequential extrusion module, drive the electromagnetic valve to act.

[0062] The system driving software is responsible for realizing the data interaction function of the main control single-chip microcomputer and the sensor, reading the process information of each running link of the device, after real-time processing by the main control single-chip microcomputer and the running control board, transmitting to the monitoring subsystem, and synchronously displaying the data on the OLED display screen.

[0063] The RS232-TTL level conversion connection line is adopted between the physician workstation 5 and the single-chip microcomputer to realize full-duplex asynchronous communication. Since the output of the ATMEga128 single-chip microcomputer is TTL level, and the interface of the physician workstation 5 is RS232 standard level, through the low-power single power level conversion chip, seamless conversion of the two kinds of levels can be realized, the hardware circuit is simplified, the cost is reduced, and the communication stability is ensured.

[0064] The device initialization module mainly completes the I / O interface initialization, interrupt initialization and control component initialization of the ATMEga128 single-chip microcomputer, and lays a foundation for system operation.

[0065] Long-term bedridden stroke patients are prone to complications such as pressure ulcers. The device drives the support platform 12 to tilt left and right through an electric hydraulic push rod, so that the contact surface between the patient's body and the platform changes slowly, disperses the pressure of the limbs, and prevents the formation of pressure ulcers.

[0066] The support platform 12 tilt drive system is a servo power control module, mainly composed of a servo driver, a push rod motor and an angle sensor. The servo driver receives the motion command issued by the single-chip microcomputer, drives the DC motor to output torque, and provides accurate and stable pushing force for the platform tilt; the angle sensor collects the platform tilt angle data in real time and feeds back to the single-chip microcomputer, forming a closed-loop control, ensuring that the platform runs within the safe range of 15-35 degrees, avoiding long-term fixation of body position.

[0067] The sensor data acquisition module is composed of an angle sensor, a pressure sensor, a signal acquisition and conversion circuit, and an A / D conversion circuit of the ATMEga128 single-chip microcomputer, which can realize multi-channel data acquisition and preprocessing. This module collects parameters such as pushing force and tilt angle in the running process of the equipment in real time, and feeds back to the microprocessor, so as to adjust the equipment action in time.

[0068] Based on the multiple groups of 8-bit and 16-bit counters / timers with pre-division function built-in ATMEga128 single-chip microcomputer, the timing control of electro-hydraulic push rod working time can be accurately realized. In order to improve the timing accuracy and system anti-interference ability, the device selects electro-hydraulic push rod with good stability and strong anti-interference ability, and sensor with high sampling precision and good sensitivity, and further guarantees the system running stability through program optimization.

[0069] In view of the low quantification degree of traditional artificial massage, the device designs sequential vibration massage function based on digital traditional Chinese medicine theory, realizes precise and quantitative control of massage therapy by determining parameters such as vibration intensity and treatment time.

[0070] The digital sequential vibration massage system is composed of control circuit and micro-vibrator. The control circuit includes ATMEga128 single-chip microcomputer I / O interface, OLED display screen, key, alarm circuit, etc.; the micro-vibrator is composed of eccentric motor array and PWM pulse width modulation circuit, and the vibration intensity can be adjusted in multiple gears by changing the key operation time.

[0071] The eccentric motor array of the vibration circulation promotion module is sealed in the interlayer of the wearable assembly 2. The wearable assembly 2 adopts double-layer PVC structure, and the male upper limb assembly is 30-35 cm long, the lower limb assembly is 60-75 cm long, the female upper limb assembly is 25-30 cm long, and the lower limb assembly is 55-65 cm long.

[0072] After the system is started, the operator can set the treatment intensity and time on the OLED screen through the keys, and after confirmation, the eccentric motor array is sequentially started and stopped according to the preset program to form a matrix scanning vibration. The single-chip microcomputer controls the vibration intensity through PWM signal, and adopts the way of gradually upgrading from low gear to medium gear to avoid discomfort caused by high-intensity vibration to the patient.

[0073] The core function of vibration massage is to improve blood circulation in the limbs and adjust the internal energy. Through gentle matrix scanning vibration, the patient's blood circulation can be promoted, muscle spasm can be relieved, and the body's immunity can be enhanced. At the same time, combined with the synergistic effect of the pneumatic sequential compression module, blood can be pushed to the brain, brain blood flow can be improved, microcirculation in the brain can be improved, and brain function recovery can be promoted.

[0074] The pneumatic sequential compression module of the device adopts a garment-type double-sided soft structure, all components are domestic high-quality brands, and has the characteristics of low cost, stable function and high reliability. The module collects data of the patient's lesion site through the sensor, realizes sequential gas charging and discharging according to the preset program, and promotes blood circulation in the affected limb.

[0075] The air pressure sequential extrusion module cooperates with the body position adjusting module and the vibration massage module to realize the vibration massage and air pressure extrusion of the diseased limb in addition to the body position circulation of the patient. Meanwhile, the body position adjusting device 3 cooperates with the support and traction structure to slowly lift and release the limb of the patient at a preset time to simulate the action of raising the hand and leg and realize the joint activity training of the upper and lower limbs.

[0076] The dynamic adjustment of the body position of the patient can avoid the long-term compression of the muscle tissue at the same position. The sequential vibration massage and air pressure extrusion have better rehabilitation effect than the manual massage and can effectively disperse the pressure of the limb. The whole rehabilitation treatment process is controlled by the single-chip microcomputer and sensor combination to ensure the safe and reliable operation.

[0077] The working load requirement of the device is greater than or equal to 135 kg. Considering the dead weight of the bed, an electric hydraulic push rod with a thrust greater than or equal to 3000 N is selected. According to the YY0570-2013 standard, the lifting stroke of the push rod is greater than or equal to 200 mm. Combined with the multi-angle adjustment requirement of the device, an electric hydraulic push rod with a stroke greater than or equal to 500 mm and a movement speed of 20-40 mm / s is actually selected. At the same time, an angle sensor is arranged at the position where the platform is inclined to 25-30 degrees to realize safety protection.

[0078] The advantages of the electric hydraulic push rod are as follows: Small volume, light weight, small inertia force, no obvious impact when suddenly overloaded or stopped; The oil is used as the working medium, the moving surface of the element can be self-lubricated, the wear is small, and the service life is long; The control is simple and convenient, and the automation degree is high, which can be seamlessly connected with the single-chip microcomputer; Easy to realize overload protection, stable and reliable operation.

[0079] The control system receives the software parameters of the upper computer through the serial interface, analyzes the action commands, and controls the hydraulic cylinder and the electric hydraulic push rod to complete the specified movement through the single-chip microcomputer, the hydraulic valve driving circuit, and the electric hydraulic push rod driving circuit. The device tension and rotation angle data are collected by the sensor and fed back to the single-chip microcomputer to correct the actual angle of the platform.

[0080] The electric hydraulic push rod driving adopts BTS7960 motor driving chip, and two BTS7960 chips constitute a full-bridge H-type driving system. Only one MOSFET power tube on the same bridge arm is turned on at any time to realize the forward and reverse rotation control of the motor and slowly incline the platform.

[0081] The advantages of the BTS7960 chip are as follows: Compact structure, easy to install, small space occupation; Slow start with load, stable equipment operation, and safety of patient use is ensured; The circuit is provided with a bidirectional hydraulic lock, the push rod can be self-locked at any position in the stroke range, and the output force remains unchanged; The push-pull force and speed are steplessly adjustable, and the driving force range is wide. When the power is accidentally cut off, the push rod is self-locked, which maximizes the safety of use.

[0082] The device uses a Hall sensor to realize precise positioning control of the inclination angle of the support platform 12. The Hall sensor is a magneto-electric sensor with high measurement accuracy, low cost, and easy installation. It can accurately, stably, and quickly collect angle data in a non-strong magnetic environment, and is easy to maintain and manage and has strong environmental adaptability.

[0083] Hall devices are divided into linear devices and switching devices. The former outputs analog quantities, and the latter outputs digital quantities. Hall linear devices have high precision and good linearity; Hall switching devices have no contacts and no wear, and the output waveform is clear without jitter and bounce, with high position repeatability. The Hall device with compensation and protection design has a wide working temperature range of -55°C to 150°C.

[0084] The application of Hall sensors is divided into direct application and indirect application. The former directly detects the magnetic field or magnetic properties of the object, and the latter converts non-electric and non-magnetic physical quantities such as force, torque, position, and angle into electrical quantities for control through detecting the preset magnetic field on the object.

[0085] The Hall sensor of the device is installed at the connection part of the support platform 12 and the base, and a permanent magnet is fixed on the back of the sensor. When the ferromagnetic gear linked with the platform rotates near the sensor, the sensor output voltage fluctuates in a sinusoidal pattern with the change of gear teeth, and the inclination angle parameters of the platform are collected in this way.

[0086] The angle data collected by the Hall sensor is transmitted to the signal control circuit, and the data conversion is realized through the A / D conversion circuit of the ATMEga128 single-chip microcomputer. The system runs stably by changing the output level value. This technology can effectively offset the influence of working temperature, vibration, mechanical and electrical tolerances on angle measurement.

[0087] The air pressure sequential extrusion module of the device takes the ATMEga128 single-chip microcomputer as the core and is composed of a pressure sensor, a sequential controller, a PCF5015N type air pump, a solenoid valve, and a multi-cavity air bag. The air pump pressure can reach 100Kpa, with the characteristics of high pressure, large flow, low power consumption, small size, long service life, and maintenance-free. It can run continuously and is easy to control.

[0088] The single-chip microcomputer controls the electromagnetic valve to realize the timing inflation and deflation of the air bag from bottom to top, promote the blood flow from bottom to top, increase the cerebral blood flow, improve the cerebral microcirculation and oxygenation, and help the recovery of stroke patients. The pressure sensor (Honeywell product) collects the air bag pressure data, which is sent to the single-chip microcomputer after being amplified by the circuit and converted by the A / D converter. The single-chip microcomputer precisely controls the gas flow and pressure through the PWM circuit. The air pump and electromagnetic valve are connected to the single-chip microcomputer through the ULN2003 driving circuit, which ensures the accuracy of air cavity pressure collection and realizes the precise control of the inflation and deflation process.

[0089] To avoid platform over-tilt caused by electronic circuit failure, the device is installed with inductive sensor TLQ-51 at the limit position of the support platform 12, realizing double safety protection.

[0090] TLQ-51 is an eddy current proximity switch, which belongs to an inductive displacement sensor composed of a core and a coil. It realizes position detection by converting linear or angular displacement changes into coil inductance changes. When the coil is connected to the measurement circuit and the excitation power is turned on, it can output a voltage or current signal proportional to the displacement. This sensor has no moving contacts, high reliability and long service life, high resolution, high sensitivity, high linearity and good repeatability, and wide measurement range.

[0091] The Omron TLQ-51 sensor selected by the device is NPN normally open, with sensitive action and rapid start. The detection distance is 4mm. Its working principle is: when a conductive object approaches the sensor's electromagnetic field, eddy currents are generated inside the object, which react on the sensor, causing changes in the internal circuit parameters, thereby identifying the object's position and controlling the switch's on-off.

[0092] When the support platform 12 tilts to the limit position, the sensor can detect the preset metal sheet, immediately outputting a high-level signal to the single-chip microcomputer from 2 feet. After receiving the signal, the single-chip microcomputer immediately controls the electro-hydraulic push rod to stop moving, preventing the platform from over-tilting and ensuring patient safety.

[0093] The device uses a switching voltage DC power supply, fully considering the power capacity, efficiency and volume factors to meet the power requirements of multiple motors working at different times and various modules. The device uses Mingwei 150W switching power supply to output +12V DC voltage to power the electro-hydraulic push rod, air pump and other high-power components.

[0094] To ensure the stable operation of the single-chip microcomputer and the sensor, the LM2576S-5.0V switching power supply chip is used to convert +12V voltage to +5V voltage. This chip is a fixed output type voltage regulator with good linearity and load regulation capability, and has built-in over-temperature and over-current protection functions. Compared with 78 series voltage regulator chips, it can greatly reduce the need for heat sinks.

[0095] LM2576S-5.0V chip input voltage is 12V, the maximum load current 3A, output voltage 5V, switching frequency 150Hz, can provide constant voltage output, for single-chip microcomputer, sensor and eccentric motor power supply, to ensure that the output voltage is stable when the load changes. Chip 1 foot end capacitor plays a role in filtering and eliminating high-frequency interference, inductance is responsible for filtering, diode to achieve the function of freewheeling, when the switch tube is closed, through the inductor coil to provide a discharge circuit for the circuit. Compared with the traditional three-terminal voltage regulator 7805 series, although this chip has two more pins, but the performance is improved by about 40%, effectively improving the power efficiency.

[0096] The device takes ATMEga128 single-chip microcomputer as the core, integrates and controls various functional modules through I / O peripheral resources, and realizes data acquisition, transmission and processing by matching various sensors, and ensures the safe and stable operation of the device. After the device is assembled, it needs to be debugged comprehensively, and the test content includes the communication control ability of the control board and each module, the bed tilt angle and stability, the vibration massage intensity, the timing time accuracy, the inflation and deflation time and intensity control, the electro-hydraulic push rod reliability, the inductance component anti-pulse interference ability, etc. The test results show that the device can meet the rehabilitation needs of patients with stroke lesions.

[0097] Subsequently, the working mode of the device can be further enriched, the application range can be expanded, and the flexibility and expansibility of the device can be improved; in the software and hardware design, the patient comfort optimization is strengthened, the treatment parameter adjustable function is increased, more rehabilitation application scenarios are expanded, and more patients benefit. The device has further upgrading space in structure shape, function combination and medical prescription adaptability, and is expected to be widely used in clinical practice, benefit patients with cerebrovascular disease sequelae, and help the development of human health cause.

[0098] The above description has been given for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain modifications, alterations, changes, additions and sub-combinations thereof.

Claims

1. A wearable multimodal stroke rehabilitation device, characterized in that, include: Supporting framework; The support frame includes a support platform and an angle adjustment structure for adjusting the angle of the support platform; Wearable components for wrapping the patient's limbs; The vibration-promoting circulation module and the air pressure sequential compression module are integrated into the wearable component; as well as, The central control unit is electrically connected to the angle adjustment structure, the vibration circulation module, and the air pressure sequential extrusion module, respectively. The central control unit is configured to: control the angle adjustment structure to adjust the angle of the support platform according to preset or received control commands, control the vibration circulation module to perform vibration massage, and or control the air pressure sequential compression module to perform compression massage.

2. The apparatus according to claim 1, characterized in that, The central control unit includes a microcontroller, and an angle sensor and a pressure sensor connected to the microcontroller. The angle sensor and pressure sensor are used to support the angle of the platform and the airbag pressure, respectively, forming a closed-loop feedback control.

3. The apparatus according to claim 1, characterized in that, Also includes: Posture adjustment device; The body position adjustment device includes a support and a traction structure; one end of the traction structure is fixed to the support, and the other end is used to fix it to the patient's limb; The length of the traction structure is adjustable; when the length of the traction structure changes, it causes the position of the patient's limbs to change.

4. The apparatus according to claim 1, characterized in that, The vibration-induced circulation module includes an eccentric motor array controlled by a microcontroller PWM signal. The eccentric motor array is sealed in the interlayer of the wearable component and can be sequentially started and stopped according to the program to form a matrix scanning vibration.

5. The apparatus according to claim 1, characterized in that, The sequential pneumatic compression module includes multiple independent air chambers, an air pump for filling the air chambers, a solenoid valve for controlling the opening and closing of the air passage, and a pressure sensor for monitoring the chamber pressure; the central control unit is configured to control the solenoid valve so that the multiple air chambers are sequentially filled and deflated in order from the distal end to the proximal end of the limb.

6. The apparatus according to claim 1, characterized in that, It also includes a safety protection module, which includes an inductive proximity switch installed at the tilt limit position of the support platform, used to send a signal before the support platform reaches the mechanical limit, so that the central control unit stops the tilting action.

7. The apparatus according to claim 2, characterized in that, The microcontroller controls the eccentric motor of the vibration-induced circulation module through a ULN2003 driver chip, and controls the solenoid valve of the pneumatic sequential extrusion module through another ULN2003 driver chip.

8. The apparatus according to claim 1, characterized in that, The central control unit also includes a communication interface for connecting to an external medical information system to receive control commands and transmit treatment process data back.

9. A wearable multimodal stroke rehabilitation method, characterized in that, The method, employing the apparatus as described in any one of claims 1-8, comprises the following steps: The patient's affected limb is fixed to the wearable component of the device; The collaborative rehabilitation program is initiated through the central control unit; The synergistic rehabilitation program controls the device to perform synergistic effects on the same affected limb using at least two of the following modes: periodic body tilting, sequential matrix vibration massage, and sequential air pressure compression from distal to proximal.

10. The method according to claim 9, characterized in that, The synergistic effect is as follows: when the body position is tilted to a preset angle, vibration massage and air pressure compression of the limb on the same side are automatically triggered.

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