A post-cardiac surgery rehabilitation training device and a monitoring system thereof

Abstract

The present application relates to the technical field of rehabilitation training device, disclose a kind of postoperative rehabilitation training device and its monitoring system, device includes base, flywheel, footrest, crank, hand grip and pressure sensor;Monitoring system includes phase acquisition module, pressure acquisition module, power module, physiological acquisition module and control module.Control module will single pedaling corresponding crank phase angle be divided into several arc segments, based on the pressure distribution on footrest forms power mode and arc segment characteristics, and according to the auxiliary rotation of flywheel, the pressure distribution is decomposed into active force component and reaction component;Heart rate and grip strength are mapped to corresponding arc segment at the same time, to judge cross-channel response consistency.System can distinguish training load over-limit state and forced action state, and in phase lock type abnormal arc segment trigger band mode, so as to improve the monitoring accuracy and safety of rehabilitation training without interrupting the overall training.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation training devices, and discloses a post-cardiac surgery rehabilitation training device and its monitoring system. Background Technology

[0002] Post-cardiac surgery rehabilitation typically involves gradually restoring lower limb mobility and cardiopulmonary endurance within an exercise intensity range set by a therapist. Step-on training devices, due to their compact structure and stable movement trajectory, are often used for low-impact training in the early or mid-stages after surgery. Existing step-on or passive flexion-extension rehabilitation equipment usually offers functions such as resistance adjustment, angle adjustment, passive movement, and training repetition recording.

[0003] For example, Chinese Patent Publication No. CN122005270A discloses an adjustable passive flexion and extension device for lower limb rehabilitation training in the elderly, including a support frame, a leg fixation mechanism, a flexion and extension drive mechanism, an angle adjustment mechanism, a resistance control mechanism, and an intelligent control module. It has strong adaptability: by setting the angle adjustment mechanism, the angle range of lower limb flexion and extension can be flexibly adjusted according to height, leg length, and rehabilitation needs. The integrated resistance control mechanism and intelligent control module can realize multiple training modes such as isokinetic, isotonic, and isometric. By adjusting the damping resistance and movement frequency, the training intensity requirements of different rehabilitation stages can be met.

[0004] However, in some cases, when training encounters anomalies, some users are unable to provide feedback or react to the anomalies in a timely manner, which can cause harm to users due to the lack of sufficient adaptability and safety of such assistive mechanical devices. Summary of the Invention

[0005] The present invention aims to at least solve the following technical problems existing in the prior art: In some cases, when training is abnormal, some users are unable to provide feedback or react to the abnormality in the first place, which causes the mechanical device that assists in action to cause harm to the user, and lacks sufficient adaptability and safety.

[0006] To this end, the present invention provides a rehabilitation training monitoring system for use in a post-cardiac rehabilitation training device where a user's foot is fixed on a foot pedal and pedals around a flywheel via a crank. The rehabilitation training monitoring system includes: a phase acquisition module for acquiring the crank phase angle; a pressure acquisition module for acquiring the pressure distribution on the foot pedal; an assist module for applying auxiliary rotation to the flywheel; and a control module connected to the phase acquisition module, the pressure acquisition module, and the assist module. The control module divides the crank phase angle corresponding to a single pedal stroke into several arc segments. For a single arc segment, the control module forms a force distribution pattern based on the pressure distribution within that arc segment, and forms the arc segment characteristics based on the crank phase angle and the force distribution pattern. The assist module applies an auxiliary rotation that varies with the crank phase angle according to the arc segment to form a feedback mode. Based on the auxiliary rotation of the arc segment, the control module decomposes the pressure distribution of the arc segment into at least the active force component applied by the user and the reaction component caused by the auxiliary rotation, and determines the training state of the arc segment based on the active force component. The force application mode is the distribution pattern of several pressure points applied to the pedal; the feedback mode is the way in which the auxiliary rotation changes with the phase angle of the crank; for discontinuous pedaling, the arc segment and the arc segment characteristics are determined according to a single pedaling motion.

[0007] As a preferred technical solution for the rehabilitation training monitoring system, it also includes a physiological acquisition module connected to the control module; the physiological acquisition module includes a heart rate acquisition device for acquiring the user's heart rate and a grip strength acquisition device for acquiring the user's grip strength. For a single pedal stroke, the control module maps the heart rate and grip strength to the corresponding arc segment according to the crank phase angle, so that the heart rate and grip strength become components of the arc segment characteristics; for a single arc segment, the control module determines the cross-channel response consistency of the arc segment based on the correspondence between the active force component of the arc segment, the heart rate and the grip strength. When the operating load increases, if the active force component, heart rate, and grip strength of each arc segment change in the same direction and gradually, the control module determines that the cross-channel response consistency is satisfied; if the change is concentrated in some arc segments and there are abrupt changes between each arc segment, the control module determines that the cross-channel response consistency is not satisfied; the operating load is the corresponding resistance formed by the assist module and the flywheel on the user.

[0008] As a preferred technical solution for a rehabilitation training monitoring system, the control module sets a tolerance zone for each component of the arc segment features within a single arc segment, and the tolerance zone has an upper limit and a lower limit; in response to the accumulation of the working load and / or the deepening of user fatigue, the control module shifts and widens the corresponding tolerance zone as a whole according to the baseline of the arc segment in each pedal stroke of the component. For a single component of a single arc segment, if the current value of the component falls within the corresponding tolerance zone, the control module determines that the component is normal in the arc segment; if the current value of the component exceeds the corresponding tolerance zone, the control module determines that the component is abnormal in the arc segment; wherein, the baseline is the concentrated value of the component in the arc segment during a preset number of previous pedal strokes.

[0009] As a preferred technical solution for a rehabilitation training monitoring system, for a single arc segment, the assist module superimposes a preset disturbance rotation on the auxiliary rotation of the arc segment; the control module calibrates the correspondence between the reaction component and the auxiliary rotation based on the response of the pressure distribution to the disturbance rotation, and subtracts the reaction component and the passive component from the pressure distribution of the arc segment according to the correspondence to obtain the active force component; wherein, the passive component is the pressure generated by the user's lower limbs on the arc segment under relaxed pedaling; The control module determines the reaction ratio of the arc segment based on the ratio of the reaction component to the pressure distribution. The reaction ratio has a maximum stable ratio and a minimum stable ratio that fluctuate with the operating load. If the reaction ratio exceeds the maximum stable ratio, the control module determines that the arc segment is dominated by the auxiliary rotation and controls the assist module to reduce the auxiliary rotation of the arc segment to allow the active force component to recover. If the reaction ratio is lower than the minimum stable ratio, the control module determines that the user is resisting the auxiliary rotation in the arc segment and controls the assist module to adjust the feedback mode according to the force application mode of the arc segment. The maximum stable ratio and the minimum stable ratio are the rated assist range of the assist module, which are related to the operating load.

[0010] As a preferred technical solution for a rehabilitation training monitoring system, the control module summarizes the abnormalities of each component of the arc segment feature in each arc segment during a single pedaling session; for a single arc segment, the control module causes each component determined to be abnormal within that arc segment to vote separately, and determines the corresponding voting weight according to the stability of each component in each pedaling session; in response to the sum of the voting weights within a single arc segment not being less than a preset trigger ratio, the control module marks that arc segment as an abnormal arc segment. The abnormal arc segments are classified according to the distribution of the abnormality among the arc segments into gradual abnormal arc segments where the abnormality is dispersed among several arc segments, and phase-locked abnormal arc segments where the abnormality is concentrated in a single arc segment or adjacent arc segments.

[0011] As a preferred technical solution for a rehabilitation training monitoring system, for a single pedal stroke, if the abnormal arc segment is the gradually changing abnormal arc segment and the cross-channel response consistency is satisfied, the control module determines that the user is in a state of excessive training load, and controls the assist module to increase the auxiliary rotation of each arc segment as a whole, so as to reduce the training burden corresponding to the working load; wherein, the force exerted by the user in the entire stroke corresponding to the gradually changing abnormal arc segment changes in the same direction as the working load.

[0012] As a preferred technical solution for a rehabilitation training monitoring system, for a single pedaling motion, if the abnormal arc segment is a phase-locked abnormal arc segment, and within the phase-locked abnormal arc segment, at least a preset number of the active force component, the heart rate, and the grip strength are simultaneously abnormal, the control module determines that the user is in a forced operation state and generates a forced operation identifier for the phase-locked abnormal arc segment. When the user is in the forced activation state, the cross-channel response consistency is not satisfied, and the abnormality of the heart rate and the grip strength is locked in the same arc segment.

[0013] As a preferred technical solution for a rehabilitation training monitoring system, the control module is equipped with a reaction time; for any abnormal arc segment, the control module records the arc segment characteristics of each stepping on the arc segment before the abnormal arc segment is marked within the reaction time as the precursor sequence of the abnormal arc segment, and classifies the abnormal arc segment as occasional or continuous based on the precursor sequence. In response to the phase-locked abnormal arc segment carrying the forced actuation identifier, the control module isolates the arc segment; the isolation includes controlling the assist module to switch to a pass-through mode in the arc segment, so that the assist rotation drives the crank to pass over the arc segment, and several arc segments adjacent to the arc segment are included in the pass-through mode; wherein, the active force component of the arc segment in the pass-through mode is not included in the training state.

[0014] As a preferred technical solution for a rehabilitation training monitoring system, the control module archives the training status of each arc segment in a single pedal stroke into a stroke characteristic spectrum according to the crank phase angle, and classifies each arc segment into a normal arc segment, a training load exceeding limit arc segment, and a forced actuation arc segment according to the classification of the abnormal arc segment and whether it carries the forced actuation identifier. The control module updates the baseline and tolerance band of the corresponding arc segment according to the classification results of each arc segment, and readjusts the feedback mode of the assist module in the corresponding arc segment during the next pedal stroke; wherein, for the forced actuation arc segment, the feedback mode includes the overshoot mode; for the training load over-limit arc segment, the feedback mode includes overall increase of assist rotation.

[0015] On the other hand, the present invention also provides a post-cardiac rehabilitation training device, comprising: a base; a flywheel rotatably disposed on the base for controlled assisted rotation; a foot pedal; a crank connected between the flywheel and the foot pedal for causing the foot pedal to form a pedaling stroke with the flywheel; a hand grip disposed on the base for a user to hold; and a pressure sensor disposed on the foot pedal. The pressure sensor includes several pressure points distributed on the pedal surface to collect the pressure distribution of the pedal; the pressure distribution is used to form the arc segment characteristics of each arc segment according to the crank phase angle of the crank, and to obtain the active force component and reaction component based on the auxiliary rotation of the flywheel.

[0016] Compared with existing technologies, the present invention has at least the following beneficial effects: First, by dividing the entire pedaling process into phase domain features according to the crank phase angle, it is possible to locate local arc segment anomalies; Second, by calibrating the reaction component through perturbation rotation and subtracting the passive component, it is possible to obtain the active force component that is closer to the user's actual active participation; Third, by judging the consistency of cross-channel response of heart rate, grip strength, and active force component, it is possible to distinguish between training load over-limit state and forced actuation state; Fourth, by using reaction time, precursor sequence, and passover mode, it is possible to protect local risk arc segments without interrupting the overall training; Fifth, by updating the tolerance band and feedback mode through stroke feature spectrum refeedback, it is possible to adapt to different users, different training stages, and different fatigue levels. Attached Figure Description

[0017] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the technical solutions of the present invention, and do not constitute a limitation on the technical solutions of the present invention.

[0018] Figure 1 This is a structural block diagram of the rehabilitation training monitoring system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the postoperative cardiac rehabilitation training device according to an embodiment of the present invention; Figure 3 This is a schematic diagram showing the distribution of pressure sensors on the foot pedal according to an embodiment of the present invention.

[0019] In the picture: 1. Base; 2. Flywheel; 3. Pedal; 4. Crank; 5. Hand grip; 6. Pressure sensor. Detailed Implementation

[0020] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0023] like Figures 1 to 3 As shown, this embodiment provides a post-cardiac rehabilitation training device and its rehabilitation training monitoring system. The post-cardiac rehabilitation training device includes a base 1, a flywheel 2, a foot pedal 3, a crank 4, a hand grip 5, and a pressure sensor 6. The flywheel 2 is rotatably mounted on the base 1, and the foot pedal 3 is connected to the flywheel 2 via the crank 4, allowing the foot pedal 3 to perform a pedaling stroke along with the flywheel 2. During training, the user's feet are fixed on the foot pedal 3, and the crank 4 drives the foot pedal 3 to perform pedaling training around the flywheel 2. The hand grip 5 is mounted on the base 1 for the user to hold, so that the user can maintain upper body stability during lower limb pedaling, and can be used in conjunction with a grip force acquisition device to obtain the user's grip force. The pressure sensor 6 is mounted on the foot pedal 3, and the pressure sensor 6 includes several pressure points distributed on the tread surface of the foot pedal 3 to collect the pressure distribution of the foot pedal 3.

[0024] The rehabilitation training monitoring system in this embodiment is used for the aforementioned pedaling training exercise process. This system includes a phase acquisition module, a pressure acquisition module, a physiological acquisition module, an assistance module, and a control module. The phase acquisition module acquires the crank phase angle of the crank 4; the pressure acquisition module acquires the pressure distribution on the pedal 3; the physiological acquisition module includes a heart rate sensor for acquiring the user's heart rate and a grip strength sensor for acquiring the user's grip strength; and the assistance module applies auxiliary rotation to the flywheel 2. The control module is connected to the phase acquisition module, pressure acquisition module, physiological acquisition module, and assistance module, respectively, enabling data from the device's movement side, the foot's pressure side, and the user's physiological side to correspond within the same crank phase domain. In this embodiment, the heart rate sensor is a monitoring wristband worn by the user, and the grip strength sensor is a pressure sensor array embedded in the hand grip bar 5. In practice, these can be replaced with other methods capable of acquiring heart rate and grip strength.

[0025] To convert the continuous pedaling process into phase domain data that facilitates anomaly localization, the control module divides the crank phase angle corresponding to a single pedal stroke into several arc segments. A single pedal stroke can be the completion of one revolution of crank 4, or a complete pedaling cycle identified by the control module based on the continuous changes in the crank phase angle. The crank phase angle can be measured cyclically within a range of 0 to 360 degrees, starting from a preset zero position on flywheel 2 or crank 4. As an example, the control module can divide a single pedal stroke into 8, 12, 16, or 24 arc segments; the number of arc segments can be preset by factory parameters or customized by the rehabilitation therapist based on the user's postoperative stage, sampling frequency, and training stability. The principle is that with fewer arc segments, the data within a single arc segment is smoother, suitable for early low-intensity training; with more arc segments, local anomaly localization is more precise, suitable for training stages requiring more detailed monitoring. For discontinuous pedaling, the control module does not forcibly stitch together the phase data that is interrupted before and after, but instead redefines the arc segment and arc segment characteristics according to a single pedaling action, in order to avoid phase breaks caused by intermittent training being misjudged as abnormal.

[0026] Within a single arc segment, several pressure points of pressure sensor 6 output corresponding pressure values, and the control module forms a force application mode based on the pressure distribution within that arc segment. The force application mode refers to the distribution pattern of several pressure points applied to the pedal 3, such as concentrated pressure points in the forefoot area, concentrated pressure points in the heel area, continuous pressure points on the outer side of the sole, or simultaneous pressure points in multiple areas. The control module can characterize the force application mode based on the number of activated pressure points, the location of the pressure center, the pressure magnitude of each pressure point, and the duration of pressure, and further combine this with the crank phase angle to form the arc segment characteristics. Thus, the arc segment characteristics are not a single pressure value, but a combination of data such as the force application mode corresponding to the crank phase position, active force components, heart rate, and grip strength.

[0027] The assist module applies auxiliary rotation to the flywheel 2 in arc segments, varying with the crank phase angle, thus forming a feedback mode. The feedback mode refers to the way the auxiliary rotation changes with the crank phase angle, such as uniform assistance throughout the entire stroke, increasing auxiliary rotation in certain arc segments, decreasing auxiliary rotation in others, or switching to a pass-through mode in specific arc segments. Since the auxiliary rotation acts on the pedal 3 through the flywheel 2 and crank 4, the pressure distribution collected by the pressure sensor 6 includes both the user's active force and the reaction force caused by the auxiliary rotation. Therefore, before determining the training state, the control module first decomposes the pressure distribution based on the auxiliary rotation in that arc segment into at least the user-applied active force component and the reaction force component caused by the auxiliary rotation.

[0028] To make the above decomposition feasible, in one specific embodiment, the assist module superimposes a preset disturbance rotation onto the assist rotation of a single arc segment. The control module calibrates the correspondence between the reaction component and the auxiliary rotation based on the pressure distribution's response to the disturbance rotation. The disturbance rotation can be a small torque disturbance or velocity disturbance superimposed on the current assist rotation. For example, the disturbance amplitude can be 2% to 8% of the current assist rotation amplitude, and the disturbance duration can be 10% to 30% of the duration of the arc segment. The principle for selecting this preset range is: if the disturbance amplitude is too small, the response in the pressure distribution is not easily distinguishable from noise; if the disturbance amplitude is too large, it may change the user's pedaling experience or affect training safety. The above disturbance amplitude and duration can also be customized by the rehabilitation therapist based on the user's postoperative recovery stage, flywheel inertia, and training intensity.

[0029] After calibration, the control module subtracts the reaction and passive components from the pressure distribution of the arc segment according to the above correspondence to obtain the active force component. The passive component is the pressure generated by the user's lower limbs on the arc segment under relaxed pedaling. As an example, before training begins, the assist module can rotate the flywheel 2 at a low speed, while the user's lower limbs remain relaxed. The pressure sensor 6 records the pressure distribution of each arc segment, which serves as the passive component for that segment. During actual training, the control module subtracts the passive component and the reaction component caused by the assist rotation from the current pressure distribution to obtain the active force component, which more closely approximates the user's actual level of active participation. Subsequently, the control module determines the training state of the arc segment based on the active force component.

[0030] After the active force component is determined, the control module further determines the reaction ratio of that arc segment based on the ratio of the reaction component to the pressure distribution. The reaction ratio has a maximum stable ratio and a minimum stable ratio that fluctuate with the operating load. The maximum and minimum stable ratios represent the rated assist range of the assist module and are related to the operating load. The operating load refers to the corresponding resistance formed by the assist module and flywheel 2 on the user. As an example, during low-intensity training, the maximum stable ratio can be set to 0.70, and the minimum stable ratio can be set to 0.20. When the operating load increases or the user shows signs of fatigue, the maximum and minimum stable ratios can be appropriately widened, for example, adjusted to 0.75 and 0.15. The principle is that when the training burden increases, the fluctuation of the user's force and the degree of participation of the assist rotation may increase, and an excessively narrow range is prone to misjudgment; while during stable training, a narrower range is beneficial to improving the sensitivity of anomaly detection.

[0031] If the reaction force ratio exceeds the maximum stable ratio, the control module determines that the arc segment is dominated by auxiliary rotation, indicating that the pressure distribution of pedal 3 within this arc segment is mainly affected by the push of the assist module, with insufficient user active participation. In this case, the control module controls the assist module to reduce the auxiliary rotation of this arc segment to increase the active force component. If the reaction force ratio is lower than the minimum stable ratio, the control module determines that the user is resisting the auxiliary rotation in this arc segment, indicating that the user may be experiencing local resistance, compensation, or forced support in this phase. In this case, the control module adjusts the feedback mode according to the force application mode of this arc segment, such as reducing the auxiliary rotation of this arc segment, changing the phase of the auxiliary rotation, or switching to a pass-through mode when it is subsequently determined to be a forced actuation state.

[0032] Meanwhile, the heart rate and grip strength collected by the physiological acquisition module are not stored as independent logs. Instead, the control module maps them to corresponding arc segments according to the crank phase angle, making heart rate and grip strength components of the arc segment's characteristics. Specifically, the control module can align the heart rate acquisition time and grip strength acquisition time with the crank phase angle acquisition time, and write the corresponding heart rate and grip strength values ​​to the corresponding arc segment according to the time range of each arc segment in a single pedal stroke. Since changes in heart rate may have a brief lag relative to local force exertion, the control module can use a time window within the same pedal cycle or adjacent sampling windows during mapping, but the mapping result still belongs to the arc segment containing the corresponding crank phase angle.

[0033] For a single arc segment, the control module determines the cross-channel response consistency based on the correspondence between the active force component, heart rate, and grip strength of that arc segment. As the response load increases, if the active force component, heart rate, and grip strength of each arc segment all change in the same direction and gradually, the control module determines that the cross-channel response consistency is satisfied; if the changes are concentrated in some arc segments and there are abrupt changes between arc segments, the control module determines that the cross-channel response consistency is not satisfied. Here, "changing in the same direction and gradually" means that across multiple arc segments, the active force component, heart rate, and grip strength all show a continuous trend with increasing training load, rather than suddenly exceeding limits only in a single arc segment; "concentrated in some arc segments and with abrupt changes" means that the anomaly is mainly locked in a single arc segment or adjacent arc segments, with a clear disconnect from other arc segments. This judgment enables the system to distinguish between an increase in training load throughout the entire training period and local phase risks.

[0034] To provide a stable boundary for the above judgment, the control module sets a tolerance band for each component of the arc segment features within a single arc segment. The tolerance band has an upper and lower limit. The components of the arc segment features may include active force components, heart rate, grip strength, and force pattern features formed by pressure distribution. The tolerance band can be determined jointly by factory parameters, pre-training calibration data, target intervals input by the therapist, and user's previous pedaling data. As an example, for the active force component, the control module can take the concentrated value of the active force component of that arc segment in a preset number of previous pedaling sessions as the baseline. The concentrated value can be the median, truncated mean, or the average value after removing abrupt changes. The tolerance band can be set to a range of 15% to 25% above and below the baseline, or set to the baseline plus or minus a preset pressure fluctuation amount. For heart rate and grip strength, the tolerance band can be set in combination with pre-training resting values, doctor-ordered training goals, and the stable interval of previous pedaling sessions.

[0035] In response to the accumulation of workload and / or the deepening of user fatigue, the control module shifts and widens the corresponding tolerance band based on the baseline of the component within that arc segment in previous pedaling sessions. The baseline here refers to the concentrated value of the component within that arc segment in a preset number of previous pedaling sessions. The preset number of sessions can be 5 to 20, or it can be customized by the therapist based on training duration and sampling stability. The overall shift of the tolerance band accommodates natural changes in the user's performance during training, while the widening of the tolerance band accommodates reasonable physiological fluctuations as fatigue deepens. For a single component within a single arc segment, if the current value of that component falls within the corresponding tolerance band, the control module determines that the component is normal within that arc segment; if the current value of that component exceeds the corresponding tolerance band, the control module determines that the component is abnormal within that arc segment. Therefore, the system does not rely on ambiguous relative descriptions, but rather uses upper and lower limits and whether the tolerance band is exceeded as the basis for judgment.

[0036] After determining whether each component in each arc segment is abnormal, the control module summarizes the abnormalities of each component in each arc segment during a single pedal stroke. For a single arc segment, the control module assigns a vote to each component deemed abnormal within that arc segment, determining the corresponding voting weight based on the stability of each component across different pedal strokes. For example, if the active force component within a certain arc segment exhibits high stability across different pedal strokes, then that component will have a higher voting weight when an abnormality occurs in the current arc segment; if grip strength data fluctuates significantly during a training phase, the voting weight for grip strength abnormalities can be lower than the voting weight for active force component abnormalities. The preset trigger ratio can be set to 0.50, 0.60, or 0.70. For instance, when the sum of the voting weights of abnormal components within a single arc segment is not less than 0.60, the control module marks that arc segment as abnormal. The principle behind this preset trigger ratio is that a lower ratio results in higher recognition sensitivity, while a higher ratio results in a lower probability of false triggering. This can be customized according to the user's risk level.

[0037] After abnormal arc segments are marked, the control module does not immediately treat all abnormalities the same. Instead, it categorizes them into gradual-change abnormal arc segments and phase-locked abnormal arc segments based on their distribution across the arc segments. Gradual-change abnormal arc segments refer to abnormalities scattered across several arc segments, typically manifested as multiple arc segments changing in the same direction as the operating load increases. Phase-locked abnormal arc segments refer to abnormalities concentrated in a single arc segment or adjacent arc segments, typically manifested as abnormalities always appearing at the same crank phase position. Through this classification, the control module can distinguish between an increase in training load throughout the entire stroke and local phase scrambling.

[0038] For a single pedal stroke, if the abnormal arc segment is a gradually changing abnormal arc segment and the cross-channel response consistency is met, the control module determines that the user is in a training load over-limit state. This training load over-limit state corresponds to the user's force application changing in the same direction as the workload throughout the entire stroke, indicating that the current training load has exceeded the user's suitable tolerance range for the current stage. At this time, the control module controls the assist module to increase the auxiliary rotation of each arc segment as a whole, in order to reduce the training burden corresponding to the workload. For example, the control module can synchronously increase the auxiliary rotation of each arc segment by a preset proportion in the next pedal stroke, or provide a higher auxiliary rotation for arc segments with more obvious gradual abnormalities, allowing the user to continue training without being forced to interrupt it.

[0039] Conversely, for a single pedal stroke, if the abnormal arc segment is a phase-locked abnormal arc segment, and within this phase-locked abnormal arc segment, at least a preset number of components among the active force component, heart rate, and grip strength are simultaneously abnormal, the control module determines that the user is in a forced actuation state and generates a forced actuation flag for that phase-locked abnormal arc segment. The preset number can be 2 or 3. For example, when the active force component and grip strength simultaneously exceed their respective tolerance zones, or when the active force component, grip strength, and heart rate all exceed their corresponding tolerance zones, a forced actuation state judgment is triggered. The principle behind this preset number is that a single component abnormality may originate from data acquisition fluctuations or short-term movement changes, while multiple components simultaneously being abnormal in the same arc segment is more indicative of a risk of localized overexertion, compensation, or discomfort in that arc segment. When the user is in a forced actuation state, cross-channel response consistency is not satisfied, and the abnormalities in heart rate and grip strength are locked in the same arc segment.

[0040] To further differentiate between occasional and persistent abnormalities, the control module includes a reaction time. The reaction time is a time window used to review data before the abnormal segment was marked. It can be set to 3 to 10 seconds, or to 2 to 5 prior pedaling cycles. This reaction time can be preset by the system or customized by the therapist based on the user's reaction speed, heart rate sampling frequency, and training rhythm. The principle is that when a user feels discomfort, experiences strain, or engages in compensation, changes in heart rate, grip strength, and active force components may not occur completely synchronously at the same sampling point. By reviewing the prior pedaling data within the reaction time, the trajectory of changes before the abnormality occurred can be captured.

[0041] For any anomalous segment, the control module records the segment characteristics of each preceding pedal stroke within the reaction time before the anomalous segment is marked as the precursor sequence of the anomalous segment, and classifies the anomalous segment as either occasional or persistent based on the precursor sequence. For example, if a segment is marked as anomalous only in the current pedal stroke, and the precursor sequence does not show consecutive anomalous segments in the same or adjacent segments, the control module can classify it as occasional. If multiple consecutive preceding pedal strokes show anomalous segments in the same or adjacent segments, or if the anomalous intensity increases progressively, the control module can classify it as persistent. This classification result is used for subsequent feedback mode tuning; occasional anomalous anomalous segments can be corrected with gentler assists, while persistent anomalous segments require stronger protective feedback.

[0042] In response to a phase-locked abnormal arc segment carrying a forced actuation indicator, the control module isolates that arc segment. Isolation involves the control assist module switching to a pass-through mode for that arc segment, causing the auxiliary rotation to drive crank 4 past the arc segment, and including several adjacent arc segments in the pass-through mode. The number of adjacent arc segments can be one before and one after, or two before and one after; the principle behind this selection is that forced actuation often involves compensatory force before and after the target arc segment, and including adjacent arc segments in the pass-through mode helps reduce the user's need to continue to exert force in adjacent phases. In the pass-through mode, the active force component of that arc segment is not included in the training state to avoid pressure changes caused by protective assistance affecting the training state evaluation.

[0043] After determining the duration of a single pedal stroke, the control module archives the training status of each segment of the stroke into a stroke characteristic spectrum based on the crank phase angle. The stroke characteristic spectrum can include the active force component, reaction component, reaction ratio, heart rate mapping value, grip strength mapping value, tolerance zone determination result, abnormal segment type, whether it carries a forced actuation flag, and the feedback mode used for this stroke. Based on the classification of abnormal segments and whether it carries a forced actuation flag, the control module categorizes each segment into normal segments, training load exceeding limits segments, and forced actuation segments.

[0044] The stroke characteristic spectrum is not only used for post-stroke recording, but also for closed-loop feedback in the next pedal stroke. The control module updates the baseline and tolerance band of the corresponding arc segment based on the classification results of each arc segment, and readjusts the feedback mode of the assist module in the corresponding arc segment for the next pedal stroke. For forced actuation arc segments, the feedback mode includes a pass-through mode; for arc segments with excessive training load, the feedback mode includes an overall increase in assist rotation; for normal arc segments, the feedback mode can maintain the current assist rotation or gradually change according to the training plan. In this way, the system integrates phase acquisition, pressure acquisition, physiological acquisition, active force decomposition, abnormal arc segment classification, and assist feedback into a continuous closed loop, so that the judgment result of each pedal stroke can affect the assist strategy of the next pedal stroke.

[0045] In a complete training session, the user first fixes their feet on pedal 3 and grips the handlebar 5. The control module reads the crank phase angle output by the phase acquisition module and simultaneously receives the pressure distribution output by the pressure acquisition module, the heart rate output by the heart rate acquisition device, and the grip force output by the grip force acquisition device. Then, the control module divides each pedal stroke into arcs, forming a force pattern and arc characteristics within each arc. Based on the auxiliary rotation of the assist module in that arc, the active force component and reaction component are decomposed. Next, the control module compares the active force component, heart rate, and grip force with the corresponding tolerance bands, and combines cross-channel response consistency, abnormal arc voting, and abnormal distribution type to determine whether the user is in a normal state, an overloaded state, or a forced actuation state. Finally, the control module updates the baseline, tolerance band, and feedback mode based on the stroke characteristic spectrum, enabling the assist module to implement the corresponding auxiliary rotation in the next pedal stroke.

[0046] As can be seen from the above continuous process, the pressure distribution in this embodiment is used both to form the arc segment characteristics of each arc segment according to the crank phase angle of crank 4, and to obtain the active force component and reaction component based on the decomposition of the auxiliary rotation of flywheel 2; after heart rate and grip strength are mapped to the corresponding arc segments, they are used together with the active force component for cross-channel response consistency judgment; after abnormal arc segments are voted on, classified, reaction time backtracked, and precedent sequence classified, it is then decided whether to increase the overall auxiliary rotation or to implement a pass-through mode for local arc segments. Thus, a safety closed loop for post-cardiac rehabilitation training is formed between the device structure and the monitoring system, improving the ability to distinguish between local abnormal arc segments and changes in training burden throughout the entire stroke without interrupting the overall training.

[0047] The number of arc segments, preset number of times, disturbance rotation amplitude, disturbance duration, preset trigger ratio, preset number, reaction time, and number of adjacent arc segments in the above embodiments are all feasible examples given for the purpose of explaining the principle. In practical applications, the above parameters can be preset or customized according to the user stage, training goal, sampling frequency, flywheel inertia, and training stability, but their adjustment principles all revolve around the same technical logic: comparing pressure distribution, active force components, heart rate, and grip strength in the same crank phase domain, and selecting the matching auxiliary rotation feedback based on the anomaly type.

[0048] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0049] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention; various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A rehabilitation training monitoring system for use in a post-cardiac surgery rehabilitation training device, wherein the user's feet are fixed on foot pedals and the user performs pedaling training by rotating the foot pedals around a flywheel via a crank; characterized in that, The rehabilitation training monitoring system includes: A phase acquisition module for acquiring the crank phase angle of the crank; A pressure acquisition module used to collect the pressure distribution set on the foot pedal; The physiological acquisition module includes a heart rate acquisition device for acquiring the user's heart rate and a grip strength acquisition device for acquiring the user's grip strength. A power assist module for applying auxiliary rotation to the flywheel; and A control module connected to the phase acquisition module, the pressure acquisition module, the physiological acquisition module, and the assist module; The control module divides the crank phase angle corresponding to a single pedal stroke into several arc segments. For a single arc segment, the control module forms a force distribution pattern based on the pressure distribution within that arc segment, and forms the arc segment characteristics based on the crank phase angle and the force distribution pattern. The assist module applies an auxiliary rotation that varies with the crank phase angle according to the arc segment to form a feedback mode. Based on the auxiliary rotation of the arc segment, the control module decomposes the pressure distribution of the arc segment into at least the active force component applied by the user and the reaction component caused by the auxiliary rotation, and determines the training state of the arc segment based on the active force component. For a single pedal stroke, the control module maps the heart rate and grip strength to the corresponding arc segment according to the crank phase angle, so that the heart rate and grip strength become components of the arc segment characteristics; for a single arc segment, the control module determines the cross-channel response consistency of the arc segment based on the correspondence between the active force component of the arc segment, the heart rate and the grip strength. The control module identifies abnormal arc segments based on the arc segment characteristics of each arc segment, and classifies the abnormal arc segments into gradual abnormal arc segments with abnormalities dispersed across several arc segments, and phase-locked abnormal arc segments with abnormalities concentrated in a single arc segment or adjacent arc segments, according to the distribution of abnormalities among the arc segments. For the gradual abnormal arc segments, the control module controls the assist module to increase the overall auxiliary rotation of each arc segment to reduce the training burden corresponding to the working load. For the phase-locked abnormal arc segments, the control module controls the assist module to switch to a pass-through mode in the abnormal arc segment and adjacent arc segments, so that the auxiliary rotation drives the crank to pass over the abnormal arc segment. The force application mode is the distribution pattern of several pressure points applied to the pedal; the feedback mode is the way in which the auxiliary rotation changes with the phase angle of the crank; the working load is the corresponding resistance formed by the power assist module and the flywheel on the user; for discontinuous pedaling, the arc segment and the arc segment characteristics are determined according to a single pedaling motion.

2. The rehabilitation training monitoring system according to claim 1, characterized in that, The control module sets a tolerance band for each component of the arc segment features within a single arc segment, and the tolerance band has an upper limit and a lower limit; in response to the accumulation of the working load and / or the deepening of user fatigue, the control module shifts and widens the corresponding tolerance band as a whole according to the baseline of the arc segment during each pedal stroke. For a single component of a single arc segment, if the current value of that component falls within the corresponding tolerance band, the control module determines that the component is normal for that arc segment. If the current value of the component exceeds the corresponding tolerance band, the control module determines that the component is abnormal in the arc segment; wherein, the baseline is the concentrated value of the component in the arc segment during a preset number of previous pedal strokes.

3. The rehabilitation training monitoring system according to claim 2, characterized in that, For a single arc segment, the assist module superimposes a preset disturbance rotation onto the auxiliary rotation of that arc segment; The control module calibrates the correspondence between the reaction component and the auxiliary rotation based on the response of the pressure distribution to the disturbance rotation, and subtracts the reaction component and passive component from the pressure distribution of the arc segment according to the correspondence to obtain the active force component; wherein, the passive component is the pressure generated by the user's lower limbs on the arc segment under relaxed pedaling. The control module determines the reaction ratio of the arc segment based on the ratio of the reaction component to the pressure distribution. The reaction ratio has a maximum stable ratio and a minimum stable ratio that fluctuate with the operating load. If the reaction ratio exceeds the maximum stable ratio, the control module determines that the arc segment is dominated by the auxiliary rotation and controls the assist module to reduce the auxiliary rotation of the arc segment to allow the active force component to recover. If the reaction ratio is lower than the minimum stable ratio, the control module determines that the user is resisting the auxiliary rotation in the arc segment and controls the assist module to adjust the feedback mode according to the force application mode of the arc segment. The maximum stable ratio and the minimum stable ratio are the rated assist range of the assist module, which are related to the operating load.

4. The rehabilitation training monitoring system according to claim 2, characterized in that, The control module summarizes the anomalies of each component of the arc segment feature in each arc segment during a single pedal stroke; for a single arc segment, the control module causes each component determined to be abnormal within that arc segment to vote separately, and determines the corresponding voting weight according to the stability of each component in previous pedal strokes; when the sum of the voting weights within a single arc segment is not less than a preset trigger ratio, the control module marks that arc segment as an abnormal arc segment.

5. The rehabilitation training monitoring system according to claim 4, characterized in that, For a single pedal stroke, if the abnormal arc segment is the gradually changing abnormal arc segment and the cross-channel response consistency is satisfied, the control module determines that the user is in a state of training load overload; wherein, the gradually changing abnormal arc segment corresponds to the user's force changing in the same direction as the working load throughout the entire stroke.

6. The rehabilitation training monitoring system according to claim 4, characterized in that, For a single pedal stroke, if the abnormal arc segment is the phase-locked abnormal arc segment, and within the phase-locked abnormal arc segment, at least a preset number of the active force component, the heart rate, and the grip strength are simultaneously abnormal, the control module determines that the user is in a forced operation state and generates a forced operation identifier for the phase-locked abnormal arc segment. When the user is in the forced activation state, the cross-channel response consistency is not satisfied, and the abnormality of the heart rate and the grip strength is locked in the same arc segment.

7. The rehabilitation training monitoring system according to any one of claims 5 or 6, characterized in that... The control module has a reaction time; for any abnormal arc segment, the control module records the arc segment characteristics of each arc segment that was stepped on before the abnormal arc segment was marked within the reaction time as the precursor sequence of the abnormal arc segment, and classifies the abnormal arc segment as occasional or continuous based on the precursor sequence. In response to the phase-locked abnormal arc segment carrying a forced actuation flag, the control module isolates the arc segment; wherein, in the pass-through mode, the active force component of the arc segment is not included in the training state.

8. The rehabilitation training monitoring system according to claim 7, characterized in that, The control module archives the training state of each arc segment in a single pedal stroke into a stroke feature spectrum according to the crank phase angle, and classifies each arc segment into normal arc segment, training load over-limit arc segment, and forced actuation arc segment according to the classification of the abnormal arc segment and whether it carries the forced actuation identifier. The control module updates the baseline and tolerance band of the corresponding arc segment according to the classification results of each arc segment, and readjusts the feedback mode of the assist module in the corresponding arc segment during the next pedal stroke; wherein, for the forced actuation arc segment, the feedback mode includes the overshoot mode; for the training load over-limit arc segment, the feedback mode includes overall increase of assist rotation.

9. A post-cardiac surgery rehabilitation training device, applied to the rehabilitation training monitoring system according to any one of claims 1 to 6, characterized in that, include: Base; A flywheel rotatably mounted on the base, the flywheel being used for controlled assisted rotation; Foot pedal; A crank connected between the freewheel and the pedal, the crank being used to cause the pedal to travel a pedal stroke with the freewheel; a hand grip provided on the base for the user to hold; and a pressure sensor provided on the pedal; The pressure sensor includes several pressure points distributed on the pedal surface to collect the pressure distribution of the pedal; the pressure distribution is used to form the arc segment characteristics of each arc segment according to the crank phase angle of the crank, and to obtain the active force component and reaction component based on the auxiliary rotation of the flywheel.

Images