Traditional Chinese medicine hot compress rehabilitation and passive stretching 3D printing exoskeleton system

Abstract

The application discloses a traditional Chinese medicine hot compress rehabilitation and passive stretching 3D printing exoskeleton system, which is specially designed for stroke or spinal cord injury paraplegic patients with sensory disorders. The system adopts a hot-medicine-force three-dimensional collaborative therapy: first, the hot compress opens the pores and promotes the penetration of the medicine, and then the passive stretching softens the spastic muscles in the subsequent collaborative treatment logic, and the 3D printing mechanical waist is personalized printed according to the waist circumference size of the user to achieve complete matching, and the whole realizes the collaborative treatment of traditional Chinese medicine hot compress and mechanical stretching.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation medical device technology, specifically to a 3D-printed exoskeleton system that integrates traditional Chinese medicine hot compress function and passive stretching function. Background Technology

[0002] With the accelerating aging of the population and the rising incidence of sports injuries, the demand for rehabilitation of joint and limb dysfunction is increasing. Currently, existing rehabilitation equipment on the market mainly suffers from the following technical limitations: 1. Limitations of Traditional Exoskeleton Devices: Existing rehabilitation exoskeletons are mainly divided into two categories: large active exoskeletons and passive exoskeletons. While large active exoskeletons (such as motor-driven ones) offer good rehabilitation effects, they are complex in structure and expensive, and can usually only be operated by professionals in hospitals, failing to meet the continuous rehabilitation needs of patients at home. Furthermore, these devices are bulky and cumbersome, offering limited assistance to patients in their daily lives.

[0003] 2. Defects of Traditional Plaster Casts and Braces: Traditional plaster casts or medical braces only provide fixation and suffer from significant problems such as poor breathability, bulkiness, and non-removability. Prolonged wear can cause discomfort to the affected skin and even lead to skin diseases. Although 3D-printed mesh exoskeletons have emerged in recent years, improving breathability, their function remains limited to simple mechanical fixation and support, lacking active therapeutic capabilities.

[0004] 3. Existing exoskeletons lack TCM therapeutic functions: Herbal hot compresses, as a traditional external treatment method in TCM, have definite effects in warming the meridians, promoting blood circulation, and removing blood stasis. However, traditional hot compress methods usually use towels or herbal packs, which are difficult to fix in place on the joints, and the heat dissipates quickly, making it impossible to maintain continuous medicinal penetration during the dynamic process of joint movement.

[0005] 4. Existing passive exoskeletons have limited functionality: In recent years, passive exoskeletons utilizing elastic elements for energy storage have gradually emerged, resulting in innovative products such as hand rehabilitation devices based on 3D printing of flexible materials and bionic artificial muscles. However, these devices typically only provide mechanical support or assistance functions and lack integrated design with physical therapy (thermotherapy, pharmacotherapy).

[0006] In conclusion, there is an urgent need for a lightweight, personalized rehabilitation system that can simultaneously achieve "hot compress therapy" and "passive stretching". Summary of the Invention

[0007] This invention aims to provide a 3D-printed exoskeleton system for traditional Chinese medicine (TCM) hot compress rehabilitation and passive stretching, addressing the technical problem that existing rehabilitation equipment has limited functionality and cannot achieve synergistic treatment of drug hot compress and mechanical stretching. This invention utilizes 3D printing technology to customize an exoskeleton frame that perfectly conforms to the patient's limbs. While passively stretching the joints, the built-in hot compress layer accelerates the penetration of TCM, achieving a three-dimensional synergistic rehabilitation of "heat-medicine-force."

[0008] To achieve the above objectives, the present invention provides the following technical solution: A 3D-printed exoskeleton system for traditional Chinese medicine hot compress rehabilitation and passive stretching is characterized by comprising: a 3D-printed exoskeleton frame, a hot compress and drug delivery module, a passive drive module, and a control system. The heat therapy module is located on the inner side of the exoskeleton frame. The heat therapy module includes a heating element and a medicine storage layer for holding traditional Chinese medicine. The passive drive module is connected to the joint of the exoskeleton frame. The passive drive module is used to apply a continuous force that tends to extend or flex the joint. When the system is worn on the human body, the heat therapy module acts on the skin of the affected area and promotes the penetration of traditional Chinese medicine ingredients. At the same time, the passive drive module continuously passively stretches the joint.

[0009] Furthermore, the passive drive module is an energy storage and release mechanism based on an elastic element, wherein the elastic element is one or more of a torsion spring, a tension spring, and an elastic band, and the module includes a multi-position ratchet adjuster or a sliding adjustment knob for adjusting the stretching angle.

[0010] Furthermore, the heating element in the hot compress module is a graphene heating film or a flexible electric heating sheet, and the heating temperature is adjustable within the range of 38-50℃; the medicine storage layer is a detachable and replaceable mesh bag, a plug-in medicine pack interlayer, or a porous interlayer structure.

[0011] Furthermore, the main structure of the 3D printed exoskeleton scaffold is a biomimetic mesh hollow structure, and the layout is optimized according to the finite element topology optimization method, which reduces the amount of material and weight while ensuring the support strength.

[0012] Furthermore, it also includes a sensor system, which includes a temperature sensor and a pressure sensor. The temperature sensor is located on the surface of the heat therapy module that contacts the skin. When the temperature exceeds a preset threshold or the pressure is too high, the control system issues an alarm or automatically cuts off the power.

[0013] Furthermore, the exoskeleton scaffold is a custom-made 3D printing scaffold adapted to the anatomical contours of the human limb. The exoskeleton scaffold is manufactured using a multi-material 3D printing process. The flexible wrapping part at the joint is made of TPU material, and the main body of the scaffold is made of PLA or nylon material. The exoskeleton scaffold adopts a biomimetic mesh hollow structure design, including at least one first rigid scaffold (proximal fixation part) and one second rigid scaffold (distal fixation part), and the two scaffolds are pivotally connected by a rotating joint axis.

[0014] Furthermore, the passive drive module also includes a damping adjustment valve for controlling the joint extension speed.

[0015] Furthermore, it also includes a wireless communication module and a mobile terminal APP, used to set treatment parameters, monitor usage status, and record rehabilitation data.

[0016] The control method of the system described in this invention includes the following steps: Step 1: Collect three-dimensional data of the patient's limbs and use 3D printing technology to generate the exoskeleton scaffold; Step 2: Adjust the initial torque and tension angle of the passive drive module according to the severity of the patient's condition; Step 3: Activate the heating module and control the heating temperature between 38℃ and 50℃; Step 4: After applying heat for 5-15 minutes, the passive drive module drives the joint to perform low-intensity, long-term static stretching; in Step 4, the passive stretching adopts an intermittent working mode: stretching for 3-5 minutes, relaxing for 1-2 minutes, and repeating the cycle. Step 5: The temperature sensor monitors and provides real-time temperature feedback. When the temperature exceeds the threshold, it automatically adjusts or cuts off the power.

[0017] The specific structure is as follows: 1. The 3D-printed exoskeleton scaffold is modeled based on the three-dimensional scan data of the patient's affected limb and adopts a biomimetic mesh-like hollow structure design. The exoskeleton scaffold includes at least one first rigid support (proximal fixation part) and one second rigid support (distal fixation part), which are pivotally connected via a rotary joint axis. The optimal layout of the mesh structure is determined using the finite element topology optimization method, achieving lightweight design while ensuring support strength.

[0018] 2. Heating module The heat therapy module is attached to the inner wall of the exoskeleton frame and includes a heating element and a medicine storage layer for holding traditional Chinese medicine. The heating element is a graphene heating film or a flexible heating element, with an adjustable heating temperature controlled within the range of 38-50℃. The medicine storage layer is a removable and replaceable mesh bag, a plug-in medicine pack interlayer, or a porous interlayer structure for holding traditional Chinese medicine packs or ointments.

[0019] 3. Passive drive module Located at the rotary joint, the passive drive module is an energy storage and release mechanism based on an elastic element, which is one or more of a torsion spring, a tension spring, and an elastic band, used to provide a continuous passive tensile force.

[0020] 4. Control System It includes a micro battery, an MCU main control chip, a motion-sensing control switch, and a wireless communication module. The MCU main control chip is electrically connected to a temperature sensor and a heating layer, and controls the heating to start and stop according to a preset temperature threshold.

[0021] Working principle When worn, the exoskeleton is secured to the affected limb with straps, and the mesh-like perforated structure ensures breathability. During rehabilitation treatment, the control system activates the flexible heating layer to heat the affected limb (38-50℃ controllable). The thermal effect expands pores and promotes local blood circulation; at the same time, the medicinal components in the traditional Chinese medicine storage layer are accelerated to volatilize and be absorbed transdermally under the drive of heat (the thermal effect and drug penetration work synergistically).

[0022] At the same time, the elastic element in the passive drive module applies a continuous, gentle torque, forcing the joint to remain in an extended state or move slowly in the direction of extension, counteracting muscle contractures and joint stiffness.

[0023] The temperature sensor provides real-time feedback on the temperature of the contact surface. When the temperature exceeds a preset safety threshold (such as 50°C), the power is automatically cut off to prevent burns.

[0024] Preferably, the 3D printing material is a composite material of PLA, TPU, or nylon, wherein the flexible wrapping part at the joint is made of TPU to improve comfort, and the main body of the support is made of PLA or nylon to ensure structural strength.

[0025] The passive drive module also includes a speed control damper for limiting the joint extension speed.

[0026] The system also includes a mobile app control terminal, which connects to the control system via Bluetooth and is used to set the temperature, timer, and view usage records. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a block diagram of the overall circuit control system of the present invention; Figure 3 This is a partially enlarged view of the passive drive module of the present invention; Figure 4 This is an overall effect diagram of the invention when worn on the human body. Detailed Implementation

[0028] To make the technical solution of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] like Figure 1 As shown, Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 As shown, the system mainly includes: an exoskeleton frame (comprising an exoskeleton waist section 1 and an exoskeleton thigh section 2), a passive drive module (comprising a motor 5), a control system (comprising a power adapter 3, an adapter cover 4, a heat therapy device switch 6, and a heat therapy device digital display 7), and a heat therapy module (comprising a heat therapy patch 8). The exoskeleton waist section 1 serves as the proximal fixation part, and the exoskeleton thigh section 2 serves as the distal fixation part, with the two pivotally connected via a rotational joint. The heat therapy patch 8 is fixed to the inner wall of the exoskeleton frame (1, 2) and closely adheres to the patient's skin. The motor 5 is installed at the rotational joint between the waist section 1 and the thigh section 2, and its output shaft is rigidly connected to the frame of the thigh section 2, used to drive the joint for passive stretching.

[0030] like Figure 2 As shown, Figure 2 This is a block diagram of the overall circuit control system of the present invention. Figure 2 As shown, the control system includes an MCU main control chip, a micro battery, a wireless communication module, and a motion-sensing control switch. The input terminals of the MCU main control chip are electrically connected to a temperature sensor and a pressure sensor, and its output terminals are electrically connected to a heat therapy module (flexible heating layer) and a passive drive module (motor or damping regulating valve), respectively. It also has a bidirectional wireless communication connection with a mobile terminal APP for data transmission and command reception.

[0031] Figure 3 This is a partially enlarged view of the passive drive module of the present invention. Figure 3 As shown, the module includes a multi-position ratchet adjuster mechanically connected to the rotational joint axis of the exoskeleton frame. By manually adjusting the ratchet position, the preload of the internal elastic element (such as a torsion spring) can be changed, thereby setting the initial extension angle and torque of the joint. In addition, the module also has a sliding adjustment knob for fine adjustment of the extension force.

[0032] Figure 4 This is an overall effect diagram of the invention when worn on the human body. Figure 4 As shown, the exoskeleton frame is fixed to the patient's waist and legs with straps, and its biomimetic mesh-like hollow structure perfectly conforms to the anatomical contours of the human limb. The heat therapy module is clamped between the exoskeleton frame and the human skin, while the passive drive module is located on the outside of the joint, thus achieving a synergistic treatment of traditional Chinese medicine heat therapy and mechanical stretching.

[0033] Example 1: Application of passive exercise in paralysis rehabilitation This embodiment is for paralyzed patients.

[0034] 1. Customization and Printing: 3D scan data of the patient's thigh and calf are collected, and an exoskeleton model conforming to the leg shape is generated using reverse engineering software. PLA material is used for printing via an FDM 3D printer, with a layer thickness of 0.2mm and an infill rate of 30%. The mesh-like perforated structure keeps the overall weight below 300g.

[0035] 2. Assembly: Install the passive drive module at the rotation axis on both sides of the knee joint. Set the initial torque via the ratchet adjuster according to the patient's degree of joint contracture; the adjustable range is 3-15 N·m. For mild flexion contracture (<15°), set the torque to 5 N·m.

[0036] 3. Preparation of Chinese medicine: After crushing the Chinese medicine formula with the effects of dispelling wind and dampness, promoting blood circulation and removing blood stasis (such as 10g of Artemisia argyi, 8g of Carthamus tinctorius, 12g of Clematis chinensis, 10g of Lycopodium clavatum, etc.), put it into a non-woven bag and insert it into the medicine storage layer.

[0037] 4. Operating Procedures: The patient wore an exoskeleton and was secured with straps; Set the heating temperature to 42℃±2℃ and the heating time to 30 minutes via mobile app; The system activates the heating layer, and after 3 minutes of preheating, the herbal ingredients begin to be released. After 10 minutes of continuous hot compress, the passive stretching module begins to apply stretching torque, achieving synergistic treatment of "hot compress softening of soft tissue" and "mechanical stretching of joints". The system automatically shuts off heating after treatment, and the patient can remove the exoskeleton.

[0038] 5. Treatment parameters: 1-2 times daily, 30 minutes each time, 4 weeks as one course of treatment.

[0039] Example 2: Relief of upper limb spasticity after stroke This embodiment addresses the high muscle tone state of the upper limbs in patients with sequelae of stroke.

[0040] 1. Customization and Printing: Collect three-dimensional data of the patient's upper arm and forearm, and use TPU and PLA composite materials for multi-material 3D printing - the joint wrapping part uses TPU (hardness 85A) and the main body of the frame uses PLA.

[0041] 2. Passive stretching module configuration: An elastic band is used as the elastic energy storage element and is set at the elbow joint flexion-extension axis. The initial tension of the elastic band is adjusted by an adjustment knob, and the tension level is divided into 3 levels (light / moderate / severe).

[0042] 3. Operating Procedures: The patient puts on the exoskeleton and adjusts it to a comfortable position; Set the heating temperature to 40℃ and apply heat for 20 minutes; The passive stretching module continuously applies torque (approximately 8-12N) in the direction of elbow extension to counteract flexor spasm; The system performs a fine-tuning of tension every 5 minutes to prevent overstretching; After treatment, the exoskeleton can be detached, allowing patients to resume other daily activities.

Claims

1. A 3D-printed exoskeleton system for traditional Chinese medicine hot compress rehabilitation and passive stretching, characterized in that, Includes exoskeleton frame, heating module, and passive drive module. The hot compress module is located on the inner side of the exoskeleton frame, and the hot compress module includes a heating element and a medicine storage layer for holding traditional Chinese medicine. The passive drive module is connected to the joint of the exoskeleton frame, and the passive drive module is used to apply a continuous force that tends to extend or flex the joint. When the system is worn on the human body, the heat therapy module acts on the affected skin and promotes the penetration of traditional Chinese medicine ingredients, while the passive drive module continuously and passively stretches the joint.

2. The 3D-printed exoskeleton system for traditional Chinese medicine hot compress rehabilitation and passive stretching according to claim 1, characterized in that, The passive drive module is an energy storage and release mechanism based on elastic elements, which are one or more of torsion springs, leaf springs, tension springs, and elastic bands.

3. The traditional Chinese medicine hot compress rehabilitation and passive stretching 3D printed exoskeleton system according to claim 1, characterized in that, The heating element in the hot compress module is a graphene heating film or a flexible electric heating sheet, and the heating temperature is adjustable within the range of 38-50℃; the medicine storage layer is a detachable and replaceable mesh bag, a plug-in medicine pack interlayer, or a porous interlayer structure.

4. The 3D-printed exoskeleton system for traditional Chinese medicine hot compress rehabilitation and passive stretching according to claim 1, characterized in that, The main structure of the 3D-printed exoskeleton scaffold is a biomimetic mesh-like hollow structure, and its layout is optimized according to the finite element topology optimization method, which reduces material usage and weight while ensuring support strength.

5. The 3D-printed exoskeleton system for traditional Chinese medicine hot compress rehabilitation and passive stretching according to claim 1, characterized in that, It also includes a sensor system, which includes a temperature sensor and a pressure sensor. The temperature sensor is located on the surface of the heat therapy module that contacts the skin. When the temperature exceeds a preset threshold or the pressure is too high, the control system issues an alarm or automatically cuts off the power.

6. The 3D-printed exoskeleton system for traditional Chinese medicine hot compress rehabilitation and passive stretching according to claim 1, characterized in that, The exoskeleton is a custom-made 3D-printed exoskeleton that conforms to the anatomical contours of the human limb. The exoskeleton is manufactured using a multi-material 3D printing process. The flexible wrapping part at the joint is made of TPU material, and the main body of the exoskeleton is made of PLA or nylon material. The exoskeleton adopts a biomimetic mesh hollow structure design, which includes at least one first rigid support (proximal fixation part) and one second rigid support (distal fixation part). The two supports are pivotally connected by a rotating joint axis.

7. The 3D-printed exoskeleton system for traditional Chinese medicine hot compress rehabilitation and passive stretching according to claim 1, characterized in that, The passive drive module also includes a damping adjustment valve for controlling the joint extension speed.

Images