Assembly for cognitive and / or motor rehabilitation of upper limb of patient

Abstract

The invention relates to a cognitive and / or motor rehabilitation system (1) for an upper limb of a patient, which is notably characterized by comprising:-a computer processor connected to a patient screen (3) and executing a computer program configured to store and / or receive rehabilitation scenario information developed by a therapist; -a plurality of effectors (2) each integrated with at least one inertial measurement unit connected to an electronic board powered by an embedded battery; the processor and the effector (2) comprise wireless communication means and are configured to exchange information regarding detection of effector movement information and scene execution in response to the effector (2) movement scene executed by the patient, said computer program being programmed to store and / or display said information on the patient screen (3).

Description

Technical Field

[0001] This invention relates to the technical field of cognitive and / or motor rehabilitation of patients' upper limbs. Background Technology

[0002] In rehabilitation, effective patient participation is crucial for improving the chances of regaining motor and / or cognitive abilities.

[0003] It is well known that reward and incentive mechanisms lead to better learning than constraint-based mechanisms. Furthermore, in rehabilitation, better learning can result in better integration and reintegration into daily life activities.

[0004] However, current tools are often not very motivating for patients and lack solutions to encourage the use of the affected limb.

[0005] The document WO2018 / 215443A1 describes a method and system designed to stimulate individuals to use their weakened limbs relative to their healthy limbs, particularly in the context of rehabilitation for motor disorders, such as cerebral palsy.

[0006] The goal is to promote the use of the affected limb while avoiding restriction of the healthy limb's movement, and this is achieved by integrating the stimulation process.

[0007] This paper proposes a system consisting of an element (such as an orthosis fitted with magnets) placed on a weakened limb and a nearby object (such as a plush toy). The object includes a proximity sensor to assess the distance between the element and the object. If the distance is less than a given value, a scene is triggered, generating auditory, visual, or haptic signals, and producing auditory and visual rewards when the desired interaction is achieved. Information about the frequency of interaction and the scene is stored and updated.

[0008] This article teaches a fun, non-invasive solution to encourage the use of weakened limbs, thereby promoting motor rehabilitation while avoiding hindering healthy limbs.

[0009] However, this solution, which is more geared towards pediatric rehabilitation, can still be improved. In particular, there is a need for a so-called "universal" solution, that is, a solution that is suitable for both children and adults, and that can optimize rehabilitation of motor and / or cognitive impairments through intensive rehabilitation (i.e., by increasing practice time). Summary of the Invention

[0010] Therefore, one object of the present invention is to overcome the problems of the prior art by providing a cognitive and motor rehabilitation system, particularly for use by therapists, in order to provide high-quality care for patients suffering from motor and / or cognitive impairments (e.g., due to nerve damage).

[0011] Another object of the present invention is to provide a system:

[0012] -Suitable for both children and adults;

[0013] - Allows for the use of implicit and intuitive methods to encourage patient movement;

[0014] - It is consistent with and adaptable to each patient's specific rehabilitation needs / goals;

[0015] - Motivating, engaging, and easy to use;

[0016] - Allows visualization and monitoring of progress and actions;

[0017] - Capable of performing independent rehabilitation work;

[0018] - Allows for optimized workspace and reduced clutter.

[0019] To this end, a cognitive and / or motor rehabilitation system for patients' upper limbs has been developed, characterized by including:

[0020] - A computer processor connected to the patient's screen and executing a computer program configured to store and / or receive information about rehabilitation scenarios developed by the therapist;

[0021] - Multiple effectors, each effector integrating at least one inertial measurement unit, which is connected to an electronic board powered by an embedded battery.

[0022] The processor and effector include wireless communication devices and are configured to exchange information regarding the detection of effector movement data and the execution of a scene in response to effector movement scenarios performed by the patient (e.g., initiated by the patient or following instructions given by a screen, therapist, or the effector itself). The computer program is programmed to store and / or display said information on the patient's screen.

[0023] In this way, the present invention provides an interactive and stimulating rehabilitation system by enabling direct interaction between the patient, the work environment, and the effector. This interaction makes it possible to perform actions based on implicit learning, discovery, intuition, and awareness, thereby promoting participation and learning.

[0024] Patients can take initiative to discover patterns and act, causing effectors to interact with each other.

[0025] Rehabilitation information is stored and / or displayed on the patient's screen to allow the patient or therapist to assess progress. A type of rating can be displayed, enabling intelligent and rewarding assessment of the patient.

[0026] According to one example, the system includes a frame that integrates a rehabilitation platform, a patient screen located in the center and visible to a patient located in front of the platform, and at least one therapist screen located laterally and visible to a therapist located to the side of the platform.

[0027] In this way, therapists can understand the patient's level of engagement and progress.

[0028] According to another example, the computer processor connected to the patient's screen can be in the form of, for example, a touchscreen tablet, which is particularly useful for allowing patients to perform rehabilitation exercises at home.

[0029] Therefore, the system according to the present invention can increase the patient's recovery time by providing a mobile rehabilitation solution.

[0030] According to a specific embodiment, the effector comprises at least one target effector and / or at least one graspable effector. Each effector includes at least one movable surface, which includes means connected to an electronic board for identifying the movable surface of another type of effector. The processor and the effector are also configured to exchange effector detection information. Of course, some effectors can be both target and graspable effectors.

[0031] Therefore, the present invention provides a series of interactive and interconnected objects with different shapes and functions to provide intensive and diverse stimulation to patients in terms of motor and cognitive goals.

[0032] In this configuration, according to a specific embodiment, the graspable effector and / or target effector includes a magnetic detection device connected to an electronic board. The system includes a magnetic element designed to be worn by the patient's hand and detected by the graspable effector and / or target effector. Furthermore, the processor and effector are configured to exchange magnetic detection information.

[0033] This allows for the stimulation and inclusion of damaged limbs in rehabilitation settings without restricting their movement.

[0034] For example, magnetic elements are located on a wristband that includes finger channels and an adjustable band around the patient's wrist.

[0035] Preferably, the active surface of at least one effector includes a display located below the active surface and visible to the patient through the active surface. The display is connected to an electronic board and can be activated based on information exchanged between the processor and the effector.

[0036] The display can be any type of light-emitting display (such as a screen), or preferably an LED matrix (e.g., addressable LEDs), regularly distributed below the moving surface. This display is capable of displaying light signals (such as symbols and graphics) and has the function of providing the following:

[0037] - Rehabilitation feedback to the patient (and possibly the therapist), especially information on the detection of effector movement and scene execution;

[0038] - Information transmission or call to action. All these light-based calls together create the language of interaction.

[0039] The presence of light-based information provides patients with instructions or information that they must be able to understand. In cases of misunderstanding, a screen is provided to the patient.

[0040] According to a specific embodiment, the identification device included in the active surface of the grasping effector is an RFID tag and an RFID antenna, and the identification device included in the active surface of the target effector is an RFID tag or an RFID antenna.

[0041] Preferably, at least one active surface of the effector includes a capacitive sensor connected to an electronic board and includes electrodes (not forming a loop) regularly distributed below the surface of the active surface, and the processor and the effector are configured to exchange capacitance detection information.

[0042] The presence of capacitive sensors enables a wider range of rehabilitation scenarios by providing patients with commands to touch the active surface of the effector. Since the electrodes do not form a circuit, interference can be avoided, allowing this technology to be combined with detection techniques, particularly RFID reading.

[0043] Preferably, the system according to the invention includes a charging and storage base for the effector, the base optionally including means for wireless communication with the effector and the processor.

[0044] In mobile environments, the base is sized to facilitate patient transport home. In nursing home environments, the base can be mounted on a frame integrating a rehabilitation platform, patient screen, etc.

[0045] According to a specific embodiment, the charging base includes a target effector and a placement area for the graspable effector, the placement area being a cavity form adapted to the shape of the object, and including means for charging the battery of the effector. Attached Figure Description

[0046] Figure 1 This is a perspective front view of an embodiment of the present invention.

[0047] Figure 2 Is with Figure 1 The view similar to the previous one is the rear view.

[0048] Figure 3 It is a detailed view of the platform, and a detailed view of the effectors stored in the corresponding placement area of ​​its charging dock.

[0049] Figure 4 Is with Figure 3 A view similar to the one shown, in which the effectors are hidden.

[0050] Figure 5 A perspective view is provided to illustrate a sphere-type graspable effector.

[0051] Figure 6 Is with Figure 5 A view similar to the one shown, in which part of the effector shell is hidden.

[0052] Figure 7 A key-type grasping effector is illustrated in perspective view.

[0053] Figure 8 The base-type target effector is illustrated in perspective view.

[0054] Figure 9 Is with Figure 8 A view similar to the one shown, in which part of the effector shell is hidden.

[0055] Figure 10 The target effector of the bar type is illustrated in perspective view form.

[0056] Figure 11 Is with Figure 10 A view similar to the one shown, in which part of the effector shell is hidden.

[0057] Figure 12 A cube-shaped graspable effector is illustrated in perspective view.

[0058] Figure 13 Is with Figure 12 A view similar to the one shown, in which part of the effector shell is hidden.

[0059] Figure 14 A perspective view is shown of a sphere-type target effector.

[0060] Figure 15 Is with Figure 14 A view similar to the one shown, in which part of the effector shell is hidden.

[0061] Figure 16 The illustration shows a display in the form of an LED matrix combined with the electrodes of a capacitive sensor.

[0062] Figure 17 Is with Figure 16 A view similar to the one shown, only illustrating the electrodes. Detailed Implementation

[0063] refer to Figures 1 to 17 This invention relates to a cognitive and / or motor rehabilitation system (1) for the upper limbs, providing an interactive and customizable rehabilitation solution. The innovation combines the use of multiple effectors (2), namely intelligent and interactive objects, a patient screen (3), wireless communication devices, and a range of advanced features to assist patients and therapists during rehabilitation procedures.

[0064] Specifically, the rehabilitation system (1) includes a computer processor capable of executing specially designed computer programs for storing and / or receiving rehabilitation scenario information developed by the therapist. The rehabilitation scenarios are adaptable to the patient's needs and are developed by the therapist considering the specific rehabilitation goals for each case.

[0065] Each effector (2) is preferably waterproof and removable, and is constructed by assembling (e.g., by screws) a protective housing. Each effector (2) integrates an inertial measurement unit, namely a gyroscope and an accelerometer, which is connected to an electronic board powered by an embedded battery. All electronic components integrated into the effector (2) are connected to the electronic board. Each effector (2) is equipped with a wireless communication device, allowing continuous exchange of information with a computer processor. This information includes at least detection data on the movements performed by the effector (2), and the execution of movement scenarios defined in the rehabilitation program.

[0066] Specifically, the effectors (2) communicate with each other, for example via Bluetooth, and with a microcontroller connected to a computer processor. The microcontroller acts as a relay point, transmitting data to the effectors (2) and the patient screen (3). Information originating from the microcontroller is generated by a human-machine interface, which can be a therapist screen (4) or a web application comprising a client and a server. The server communicates with the microcontroller via any suitable device, such as via a serial port. The human-machine interface allows for the creation of personalized rehabilitation programs and also allows therapists to provide guidance to patients via a dedicated patient screen (3).

[0067] In effectors (2), at least one type of so-called target effector (2a) is distinguished (such as base ( Figure 8 and Figure 9 ), columnar ( Figure 10 and Figure 11(or areas on the platform), and a type of so-called graspable effector (2b) (such as cylinders, rods, cubes) Figure 12 and Figure 13 ), sphere ( Figure 5 and Figure 6 ), blocks or keys ( Figure 7 The target effector (2a) can be used as a target that the patient wants to reach using the graspable effector (2b), thereby generating rehabilitation scenario information. Some target effectors (2a), such as spheres, include a cavity (2a1) designed to receive a protrusion (2b1) of the graspable effector (2b) (such as a key) by insertion. The cavity (2a1) and the protrusion (2b1) include complementary detection devices (2c) for detecting insertion and optionally detecting rotation of the inserted protrusion.

[0068] In practice, the size of the effector is adjusted so that patients can easily operate it during rehabilitation, and it is also convenient for anyone to store and operate.

[0069] In this example, the shape of the effector was chosen based on its ergonomic practicality: a large sphere ( Figure 6 Use both hands to operate, center ball ( Figure 5 It can be operated with one or two hands. The cube is operated with one hand, the key is operated with fingers and involves rotational movement, the base forms the target, especially with thinned edges, so that the effector can be transferred to it without the need for shoulder raising or lifting the effector, while the column forms the target that requires shoulder raising.

[0070] Each type of effector (2) is equipped with at least one active face (5) (e.g., a textured active face) and an identification device for wireless communication (such as an RFID tag or RFID antenna), as well as a display (6) located below the surface of the active face (5) and visible to the patient through the active face (5), and activated according to information exchanged between the microcontroller and the effector (2).

[0071] The display (6) can be any type of light-emitting display (such as a screen), or preferably an LED matrix (6a), see [link to relevant documentation]. Figure 16 For example, addressable LEDs are regularly distributed below the surface of the active surface (5).

[0072] Preferably, the effector (2) also integrates a vibration device and a capacitive sensor, which has electrodes (7) regularly distributed below the surface of the movable surface (5), see [reference]. Figure 16 and Figure 17 .

[0073] refer to Figure 16 and Figure 17 The electrodes (7) of the capacitive sensor are deployed below the active surface (5) to avoid forming a loop and thus preventing interference with RFID reading. In practice, when the display (6) is in the form of an LED matrix, a row of LEDs and an electrode strip are arranged alternately.

[0074] The effector (2) is opaque when closed for contrast and translucent when open to allow light to pass through. It is grippy in the patient’s hand but slides on the work platform. It is rigid to withstand drops but not too rigid to avoid generating unpleasant noise during operation on the work platform, while remaining lightweight and comfortable to the touch.

[0075] Rehabilitation sessions can be designed to last from 30 minutes to 1 hour, depending on the patient’s specific needs and the advice of healthcare professionals. To guide therapists in constructing these sessions, this invention proposes use scenarios. These scenarios are collections of movements for different rehabilitation goals, each of which is easily understood by a variety of patients. Seven scenarios have been developed so far, each implementing six basic movements, such as “touch,” “shake,” “lift,” “rotate,” “align,” and “stack” interactive effectors (2).

[0076] When an action is successfully performed, the object sends information to the microcontroller instructing the scene to proceed. This feedback helps motivate the patient because it defines the goal to be achieved and clarifies the action taken. The information instructing the scene to proceed is preferably accompanied by light signals, vibrations, and sounds emitted from the screen or computer processor to inform the patient of their status within the scene, enhance immersion, provide assistance or guidance when necessary, and reward the patient. In some scenarios, completing an action may trigger the display of other light-based information, displayed as colored squares, numbers, or graphics to diversify the interaction.

[0077] Preferably, each graspable effector (2b) and / or target effector (2a) includes a magnetic detection device, such as a magnetometer, or a Hall-effect sensor capable of detecting the presence of a magnetic element along three axes. In practice, this makes it possible to detect the presence of a magnetic element on a wristband attached to the patient's hand. Thus, the graspable effector (2b) and / or target effector (2a) can detect the presence of the patient's hand. The component (1) may also include a so-called replica wristband, similar to a magnetized wristband but lacking any magnetic element to avoid restricting the patient laterally.

[0078] In practice, a wristband includes finger channels and a band designed to be adjusted and secured around the wrist.

[0079] Finally, the rehabilitation system (1) can be associated with a charging and storage base (8) for the effectors (2). Charging can be performed by induction or by electrical contact with pins referred to as "pogo pins". The base (8) can be equipped with a wireless communication device to interact with the effectors (2) and the processor. For this purpose, the charging base (8) can include a cavity-type placement area shaped to match the shape of each effector (2).

[0080] The present invention can be designed for so-called nomadic rehabilitation, wherein the system (1) includes a touch screen tablet computer serving as a processor and a patient screen (3).

[0081] In the illustrated embodiment, and with reference to Figure 4 A base (8) is mounted on a frame (9) that integrates a rehabilitation platform (10). On this platform (10) are a patient screen (3) located at its front and at least one therapist screen (4) located on the side of the platform (10) to allow professionals to monitor the patient's progress. The system (1) preferably includes two therapist screens (4), one on each side, visible to the therapist located on the side of the platform (10). In practice, if the patient's condition is on the left, the therapist is positioned on their left, and vice versa. The therapist screen (4) can visualize at least the interaction information between the effectors (2) and information about the scenario being performed, while the centrally located patient screen (3) can visualize the rehabilitation scenario, instructions and protocols, assistive devices, and other information such as timers, timer settings, information about progress in the rehabilitation scenario, and scores.

[0082] The platform (10) is preferably two parts with a stepped area (10a) which integrates or can house a target effector (2a), particularly for acting on the patient’s shoulder and / or for the placement and charging of the effector (2).

[0083] The frame (9) includes a telescopic and mobile support (11) adjustable from 50cm to 100cm, allowing the patient to stand or sit in front of the rehabilitation system (1). The platform (10) is made of a non-magnetic material (such as Corian) and is approximately 100cm wide and 50cm deep. Edges (12) prevent falls. These edges (12) are non-magnetic, for example, made of aluminum, to avoid interfering with the magnetometer's detection (if the material were magnetic, it might become magnetized over time and be continuously detected by the effector). A technical housing located below the platform (10) serves as support for the upper part.

[0084] The system (1) may also include a camera connected to a computer processor, for example, to allow patient identification in order to access their rehabilitation records. In a rehabilitation setting, the camera may also be used to verify that the patient is using their injured upper limb. Finally, the camera may be used to film the patient during the rehabilitation process, including posture, gaze, and upper limb movements, so that the patient and / or healthcare professionals can analyze the rehabilitation process afterward to monitor the goals of the rehabilitation program.

Claims

1. A cognitive and / or motor rehabilitation system for a patient's upper limb (1), characterized in that, The system includes: - A computer processor connected to the patient's screen (3) and executing a computer program configured to store and / or receive rehabilitation scenario information developed by the therapist; - Multiple effectors (2), each effector integrating at least one inertial measurement unit, the inertial measurement unit being connected to an electronic board powered by an embedded battery; The processor and the effector (2) include a wireless communication device and are configured to exchange information about the detection of effector movement and information about scene execution in response to a scene of effector (2) movement performed by the patient, the computer program being programmed to store and / or display the information on the patient's screen (3).

2. The rehabilitation system (1) according to claim 1, characterized in that, In the effector (2), there is at least one target effector (2a) and / or at least one graspable effector (2b), each effector including at least one active surface (5), the active surface (5) including means connected to the electronic board for identifying the active surface (5) of another type of effector, and the processor and the effector (2) are configured to exchange effector detection information.

3. The rehabilitation system (1) according to claim 2, characterized in that, The graspable effector (2b) and / or the target effector (2a) include a magnetic detection device connected to the electronic plate, and the system (1) includes a magnetic element designed to be worn by the patient’s hand and detected by the graspable effector (2b) and / or the target effector (2a), and the processor and the effector (2) are configured to exchange magnetic detection information.

4. The rehabilitation system (1) according to any one of claims 2 to 3, characterized in that, The active surface (5) of the at least one effector includes a display (6) located below the surface of the active surface (5) and visible to the patient through the active surface (5). The display (6) is connected to the electronic board and can be activated according to information exchanged between the processor and the effector (2).

5. The rehabilitation system (1) according to any one of claims 2 to 4, characterized in that, The identification device included in the active surface (5) of the graspable effector (2b) is an RFID tag and an RFID antenna, and the identification device included in the active surface (5) of the target effector (2a) is an RFID tag or an RFID antenna.

6. The rehabilitation system (1) according to any one of claims 2 to 5, characterized in that, At least one active surface (5) of the effector includes a capacitive sensor connected to the electronic board and includes electrodes (7) regularly distributed below the surface of the active surface (5) without forming a loop, and the processor and the effector are configured to exchange capacitance detection information.

7. The rehabilitation system (1) according to any one of the preceding claims, characterized in that, It includes a charging and storage base (8) for the effector (2), the base optionally including means for wireless communication with the effector (2) and the processor.

8. The rehabilitation system (1) according to claim 7, characterized in that, The base is mounted on a frame (9) which integrates a rehabilitation platform (10), a patient screen (3) located in the center and visible to the patient located in front of the platform (10), and at least one therapist screen (4) located on the side and visible to the therapist located on the side of the platform (10).

9. The rehabilitation system (1) according to any one of claims 7 to 8, characterized in that, The charging base (8) includes a placement area for the target effector (2a) and the graspable effector (2b), the placement area preferably being a cavity form adapted to the shape of the object, and includes means for charging the battery of the effector (2).

10. The rehabilitation system (1) according to claim 3, characterized in that, The magnetic element is located on a wristband that includes finger channels and an adjustable band around the patient's wrist.

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