Electrical stimulation rehabilitation training device for surgical care

Abstract

The application discloses a kind of electric stimulation rehabilitation training device for surgical care, it is related to the technical field of rehabilitation medical instrument, including whole machine, the whole machine includes shoulder joint module, wrist joint module, elbow joint module and telescopic grip module, still include healthy side upper limb, the healthy side muscle of healthy side upper limb is attached with myoelectricity acquisition electrode, still include affected side upper limb, the whole machine is installed on the limb of affected side upper limb, and the affected side muscle of affected side upper limb is attached with electric stimulation electrode, the myoelectricity signal generated by the muscle of healthy side upper limb is picked up by myoelectricity acquisition electrode and sent to controller.The electric stimulation rehabilitation training device for surgical care, the application adopts healthy side myoelectricity acquisition to identify movement intention, triggers functional electric stimulation and joint mechanical assistance simultaneously, utilizes mirror nerve remodeling principle, combines bioelectricity stimulation activation muscle with exoskeleton mechanical assistance, this design can mobilize patient active participation willingness, more beneficial to upper limb nerve function reconstruction.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation medical device technology, specifically to an electrical stimulation rehabilitation training device for surgical care. Background Technology

[0002] After surgery such as upper limb fractures and peripheral nerve injuries, patients often experience motor dysfunction in the affected limb. If standardized rehabilitation training is not carried out in a timely manner during the postoperative care stage, complications such as muscle atrophy, joint stiffness, and permanent loss of motor function are very likely to occur. Therefore, early postoperative rehabilitation intervention is crucial for the recovery of limb function.

[0003] Currently, clinical upper limb rehabilitation equipment is mainly divided into two categories: functional electrical stimulation (fES) devices and mechanical exoskeleton rehabilitation devices. FES devices rely on pulsed currents to stimulate muscle contraction in the affected limb. However, when the muscle strength of the affected limb is severely insufficient, electrical stimulation alone cannot support the limb to complete standard training movements. Traditional upper limb rehabilitation exoskeletons are mostly one-piece structures. When wearing them, the entire device needs to be fixed to the affected limb. For patients with only a single joint injury in the shoulder, elbow, or wrist after surgery, the one-piece exoskeleton is large and easily squeezes and rubs against the surgical wound, making it unsuitable for early postoperative care. At the same time, many existing rehabilitation exoskeletons adopt a passive drive scheme, where the device forcibly drives the movement of the affected limb. The patient's active participation is low, which is not conducive to the remodeling of mirror neural pathways in the brain. Although a few mirror rehabilitation devices adopt the idea of ​​controlling the affected side from the healthy side, the mechanical assistance module and the electrical stimulation system are independent of each other and cannot achieve synchronous linkage based on the electromyographic signals of the healthy side. It is difficult for the affected limb to accurately replicate the movements of the healthy side.

[0004] In summary, there is a lack of a modular, quick-assembly and disassembly upper limb mirror rehabilitation training device in postoperative surgical care that can switch between single-joint / multi-joint training modes as needed, and integrates electromyographic intention recognition, electrical stimulation and mechanical assistance. Summary of the Invention

[0005] The purpose of this invention is to provide an electrical stimulation rehabilitation training device for surgical care, in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an electrical stimulation rehabilitation training device for surgical care, comprising a complete unit, which includes a shoulder joint module, a wrist joint module, an elbow joint module, and a telescopic grip module, as well as a healthy upper limb. An electromyography (EMG) acquisition electrode is attached to the healthy muscles of the healthy upper limb. The device also includes an affected upper limb, which is mounted on the affected upper limb. An EMG electrode is attached to the affected muscles of the affected upper limb. The EMG acquisition electrode picks up the EMG signals generated by the muscles of the healthy upper limb and sends them to a controller. After processing by the controller, the movement intention is identified, and the EMG electrode outputs a pulsed current to stimulate the corresponding muscle contraction of the affected upper limb, thus mirroring the movement made by the affected upper limb to the healthy upper limb.

[0007] Furthermore, the shoulder joint module includes a frame, on the outside of which a shoulder motor is fixedly mounted, and a belt drive component is sleeved on the drive pulley fixed to the rotating end of the shoulder motor.

[0008] Furthermore, the shoulder joint module also includes a connecting swing arm that is rotatably hinged to the inner side of the frame. The driven pulley fixed to the hinge shaft of the connecting swing arm is rotated and driven by the shoulder motor through a belt drive component, and the end of the connecting swing arm is provided with a swing arm pin port.

[0009] Furthermore, the wrist joint module includes an open ring, and a wrist joint plug is fixedly connected to the rear end of the open ring. The wrist joint plug is inserted into the swing arm plug hole provided at the end of the connecting swing arm by means of a pin.

[0010] Furthermore, the wrist joint module also includes a wrist motor fixed to the bottom of the wrist joint insert, and a gear is fixedly connected to the rotating end of the wrist motor.

[0011] Furthermore, the wrist joint module also includes a limiting step disposed on the front side of the opening ring. The limiting step has a crescent-shaped tooth on its outer periphery for limiting rotation, and the tooth shape of the outer arc surface of the crescent tooth meshes with a gear. An opening mother plate is coaxially fixed to the end of the crescent tooth, and a mother plate pin hole is provided at the end of the opening mother plate.

[0012] Furthermore, the elbow joint module includes an open male plate, and an elbow joint insert is fixedly installed at the rear end of the open male plate. The elbow joint insert is inserted into the female plate pin hole at the end of the open female plate by means of a pin.

[0013] Furthermore, the elbow joint module also includes an elbow motor fixedly installed on the outer edge of the rear side of the open male plate, and the rotating end of the elbow motor is fixedly connected with a drive bevel gear.

[0014] Furthermore, the elbow joint module also includes a shaft frame fixedly installed at both ends of the front side of the open male plate. A connecting swing block is rotatably hinged inside the shaft frame, and a driven bevel tooth is connected to the side end of the connecting swing block. The driven bevel tooth meshes with the drive bevel tooth fixedly connected to the rotating end of the elbow motor. A swing block pin is fixedly installed at the bottom of the end face of the connecting swing block.

[0015] Furthermore, the telescopic grip module includes a base block, which can be connected to any of the swing arm pin port, mother plate pin port and swing block pin port by means of a pin. A sliding sleeve is slidably installed on the base block, and the bottom of the sliding sleeve is fixed to the outer wall of the base block by fastening bolts. A hand grip is fixedly installed on the top of the sliding sleeve.

[0016] This invention provides an electrical stimulation rehabilitation training device for surgical care, which has the following beneficial effects;

[0017] 1. This application uses electromyography on the healthy side to identify movement intentions and simultaneously triggers functional electrical stimulation and joint mechanical assistance on the affected side. Utilizing the principle of mirror nerve remodeling, it combines bioelectrical stimulation to activate muscles with exoskeleton mechanical assistance. Compared with simple mechanical rehabilitation equipment, this design can mobilize the patient's willingness to participate actively and is more conducive to the reconstruction of upper limb nerve function.

[0018] 2. The joint modules in this application adopt a standardized and unified plug-in structure. The assembly is not restricted by the fixed sequence of the shoulder, wrist, and elbow. Individual joint modules can be selected separately with telescopic grip modules to carry out single-joint training. Alternatively, any two of the three joint modules can be directly connected and assembled, skipping unnecessary intermediate joint modules to carry out double-joint combined training. All modules can also be assembled into a whole machine to carry out multi-joint composite synergistic training of the entire upper limb. One device can adapt to various combinations of injuries to the patient's shoulder, elbow, and wrist joints, covering early single-joint local rehabilitation, double-joint combined rehabilitation, and multi-joint synergistic training in the middle and late stages of rehabilitation after surgery, adapting to the patient's entire rehabilitation cycle.

[0019] 3. This application addresses the nursing scenario of fragile surgical wounds in the affected limb. This device does not require the mandatory wearing of all modules. Training can be carried out by assembling the corresponding modules for the damaged joints. The module components corresponding to the intact joints can be omitted, which greatly reduces the overall size of the wearable device, reduces the compression and friction of the device components on the surgical wound, and avoids the restriction of the functional joints by the extra mechanical structure, effectively improving the safety of postoperative rehabilitation training and the comfort of the patient. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the cross-limb mirror rehabilitation training device of the present invention;

[0021] Figure 2This is a schematic diagram of the overall installation structure of the affected upper limb of the present invention;

[0022] Figure 3 This is a schematic diagram of the exploded structure of the entire machine of the present invention;

[0023] Figure 4 This is a schematic diagram of the shoulder joint module connected to the telescopic gripping module of the present invention;

[0024] Figure 5 This is a schematic diagram of the wrist joint module connected to the telescopic grip module of the present invention;

[0025] Figure 6 This is a schematic diagram of the wrist joint module structure of the present invention;

[0026] Figure 7 This is a schematic diagram of the elbow joint module connected to the telescopic grip module of the present invention;

[0027] Figure 8 This is a schematic diagram of the telescopic grip module structure of the present invention.

[0028] In the diagram: 1. Complete machine; 2. Shoulder joint module; 201. Frame; 202. Shoulder motor; 203. Belt drive component; 204. Connecting swing arm; 205. Swing arm pin socket; 3. Wrist joint module; 301. Opening ring; 302. Wrist joint insert; 303. Wrist motor; 304. Gear; 305. Limiting step; 306. Crescent-shaped part; 307. Opening mother plate; 308. Mother plate pin socket; 4. Elbow joint module ; 401, Open male plate; 402, Elbow joint insert; 403, Elbow motor; 404, Drive bevel gear; 405, Shaft bracket; 406, Connecting swing block; 407, Driven bevel gear; 408, Swing block pin port; 5, Telescopic grip module; 501, Basic insert; 502, Sliding sleeve; 503, Fastening bolt; 504, Hand grip; 6, Healthy upper limb; 7, Electromyography (EMG) acquisition electrode; 8, Affected upper limb; 9, Electrical stimulation electrode. Detailed Implementation

[0029] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0030] Please see Figures 1 to 8This invention provides a technical solution: an electrostimulation rehabilitation training device for surgical care, comprising a complete machine 1, which includes a shoulder joint module 2, a wrist joint module 3, an elbow joint module 4, and a telescopic grip module 5, as well as a healthy upper limb 6. An electromyography (EMG) acquisition electrode 7 is attached to the healthy muscle of the healthy upper limb 6, and an affected upper limb 8. The complete machine 1 is installed on the affected upper limb 8, and an EMG electrode 9 is attached to the affected muscle of the affected upper limb 8. The EMG acquisition electrode 7 picks up the EMG signals generated by the muscle exertion of the healthy upper limb 6 and sends them to the controller. After processing by the controller, the movement intention is identified, and then the EMG electrode 9 outputs a pulse current to stimulate the corresponding muscle contraction of the affected upper limb 8, thereby realizing the mirror replication of the movement made by the affected upper limb 8 to the healthy upper limb 6.

[0031] The specific operation is as follows: During training, electromyography (EMG) collection electrodes 7 are attached to the surface of the target muscles of the healthy upper limb 6, and electrical stimulation electrodes 9 are attached to the surface of the target muscles of the affected upper limb 8. The EMG collection electrodes 7 pick up the EMG signals generated by the muscles of the healthy upper limb 6 and transmit them to the controller. The controller analyzes and processes the EMG signals and identifies the patient's movement intention. After identifying the movement intention, the controller controls the electrical stimulation electrodes 9 to output pulse current to stimulate the corresponding muscles of the affected upper limb 8 to contract. On the other hand, it controls the corresponding joint module motor to synchronously output mechanical assistance, so that the electrical stimulation of muscle contraction and mechanical module assistance work together to achieve the mirror replication of the movement of the healthy upper limb 6 by the affected upper limb 8, thus completing the upper limb rehabilitation training. This application uses healthy side EMG collection to identify movement intention and synchronously triggers functional electrical stimulation and joint mechanical assistance on the affected side. Utilizing the principle of mirror nerve remodeling, it combines bioelectric stimulation to activate muscles with exoskeleton mechanical assistance. Compared with simple mechanical rehabilitation equipment, this design can mobilize the patient's willingness to participate actively and is more conducive to the reconstruction of upper limb nerve function.

[0032] Please see Figure 4 The shoulder joint module 2 includes a frame 201, a shoulder motor 202 is fixedly installed on the outside of the frame 201, and a belt drive component 203 is sleeved on the drive pulley fixed to the rotating end of the shoulder motor 202. The shoulder joint module 2 also includes a connecting swing arm 204 rotatably hinged to the inside of the frame 201. The driven pulley fixed to the hinge shaft of the connecting swing arm 204 is rotatably driven by the shoulder motor 202 through the belt drive component 203, and a swing arm pin port 205 is provided at the end of the connecting swing arm 204.

[0033] The specific operation is as follows: This invention sets up an independent and detachable shoulder joint module 2, which uses a flexible drive structure with a motor and belt drive to realize shoulder joint flexion and extension rehabilitation exercises. Unlike the traditional integrated upper limb rehabilitation equipment with a fixed structure that forces the shoulder, elbow, and wrist joints to be linked and cannot be separated, this shoulder joint module 2 can be disassembled and assembled separately. For patients who have only shoulder joint motor dysfunction after shoulder surgery and whose elbow and wrist joint functions are intact, it can realize targeted independent rehabilitation training of the shoulder joint without wearing the whole machine 1. This greatly reduces the restraint and pressure of rehabilitation equipment on the undamaged parts of the patient's upper limb. At the same time, it effectively avoids the problems of the large size of the integrated equipment, compression of the shoulder surgical wound, and traction of postoperative soft tissue. It is suitable for rehabilitation nursing scenarios in the early postoperative period when the surgical wound has not healed and the tolerance of the affected limb is low. At the same time, the shoulder joint module 2 can be combined with the wrist and elbow joint modules 4 to form the linkage structure of the whole machine 1. In the later stage of the patient's shoulder muscle strength recovery, it can be used to complete the overall compound flexion and extension training of the upper limb, taking into account both the precise repair of single joints and the collaborative functional reconstruction of multiple joints.

[0034] Please see Figures 5 to 6 The wrist joint module 3 includes an open ring 301, a wrist joint plug 302 is fixedly connected to the rear end of the open ring 301, and the wrist joint plug 302 is inserted into the swing arm plug 205 at the end of the connecting swing arm 204 by a pin. The wrist joint module 3 also includes a wrist motor 303 fixed to the bottom of the wrist joint plug 302, a gear 304 is fixedly connected to the rotating end of the wrist motor 303, and the wrist joint module 3 also includes a limiting step 305 set on the front side of the open ring 301. The limiting step 305 has a crescent tooth 306 on its outer periphery for limiting rotation, and the tooth shape of the outer arc surface of the crescent tooth 306 meshes with the gear 304. An open mother plate 307 is coaxially fixed to the end of the crescent tooth 306, and a mother plate plug 308 is provided at the end of the open mother plate 307.

[0035] The specific operation is as follows: The wrist joint module 3 of this invention adopts a precision transmission structure with gear 304 and crescent teeth 306 meshing, and with the limiting step 305 to achieve limiting protection. It can accurately complete the fine rotation rehabilitation movements of wrist pronation and supination, perfectly adapting to the fine functional rehabilitation needs after wrist joint surgery. The wrist joint has a delicate structure, small range of motion, and slender muscle groups. After surgery, it is very easy to experience minor joint stiffness, tendon adhesion, and loss of fine motor function. Traditional integrated rehabilitation equipment has a large range of motion and cannot be independently disassembled, making it difficult to carry out precise and gentle special training for the wrist joint. It is very easy to cause secondary damage to the small tissues of the wrist. This wrist joint module 3 is an independent and detachable structure that can be assembled and used separately. It completely avoids the interference of large-scale movements of the shoulder and elbow joints. Relying on the meshing transmission of precision gear 304, it achieves low-speed, stable, and controllable fine rotation training. With the limiting step 305 structure, it can strictly limit the extreme angle of wrist joint movement, conform to the physiological range of motion of the human wrist, and comprehensively protect the fragile wrist bones and soft tissues after surgery.

[0036] Please see Figure 7 The elbow joint module 4 includes an open male plate 401, an elbow joint plug 402 fixedly installed at the rear end of the open male plate 401, and the elbow joint plug 402 is inserted into the female plate plug hole 308 provided at the end of the open female plate 307 by a pin. The elbow joint module 4 also includes an elbow motor 403 fixedly installed on the outer edge of the rear side of the open male plate 401. The rotating end of the elbow motor 403 is fixedly connected to a drive bevel gear 404. The elbow joint module 4 also includes a shaft frame 405 fixedly installed on both ends of the front side of the open male plate 401. A connecting swing block 406 is rotatably hinged inside the shaft frame 405. A driven bevel gear 407 is connected to the side end of the connecting swing block 406. The driven bevel gear 407 meshes with the drive bevel gear 404 fixedly connected to the rotating end of the elbow motor 403. A swing block plug hole 408 is fixedly installed at the bottom of the end face of the connecting swing block 406.

[0037] The specific operation is as follows: The elbow joint module 4 of this invention, which is independently set up, adopts a meshing transmission structure of driving bevel gear 404 and driven conical gear 407. It has high transmission accuracy and stable power output, and can accurately realize the flexion and extension rehabilitation movements of the elbow joint. It is the core functional module adapted to the rehabilitation of the elbow joint after surgery. As the core joint of the upper limb with the highest frequency of activity and the most prone to postoperative adhesion and muscle atrophy, the elbow joint cannot achieve independent and specialized training of the elbow joint in traditional rehabilitation equipment. It often has the defects of joint linkage interference and poor training targeting. This module adopts an independent pluggable modular design and can be matched and assembled with the telescopic grip module 5 alone. It is completely free from the constraints of the shoulder and wrist joints and only conducts targeted rehabilitation training for the elbow joint. It completely avoids secondary traction damage to the postoperative wound and damaged muscle groups of the elbow joint caused by extra joint movements, and accurately adapts to the stage rehabilitation needs after elbow joint fracture, tendon repair, nerve injury and other surgeries.

[0038] Please see Figure 8 The telescopic grip module 5 includes a base block 501. The base block 501 can be connected to any of the swing arm pin port 205, the mother plate pin port 308 and the swing block pin port 408 by a pin. A sliding sleeve 502 is slidably installed on the base block 501. The bottom of the sliding sleeve 502 is abutted and fixed to the outer wall of the base block 501 by a fastening bolt 503. A hand grip 504 is fixedly installed on the top of the sliding sleeve 502.

[0039] The specific operation is as follows: The universal telescopic grip module 5 designed in this invention is the core component for adapting the whole machine 1. It has the outstanding advantages of multi-interface universal plug-in, telescopic adjustable, and strong adaptability. It can selectively match and connect with various pin ports of the shoulder joint module 2, elbow joint module 4, and wrist joint module 3 through the bottom basic plug 501, realizing free switching between independent training of a single module and compound training of multiple modules, which greatly improves the modular adaptability and versatility of the device. The module achieves stepless adjustment of telescopic length through the cooperation of sliding sleeve 502 and fastening bolt 503. It can be flexibly adapted and adjusted according to the upper limb arm length and hand size of different patients, and is suitable for patients of different body types and different recovery levels of the affected limb, greatly reducing the limitations of the device. At the same time, the independently set hand grip 504 can provide patients with a stable grip force point, solve the problems of hand weakness, unstable limb positioning, and non-standard rehabilitation training posture in postoperative patients. In single-joint training, it can stabilize the end posture of the affected limb and improve the accuracy of single-joint rehabilitation; in multi-joint compound training, it can work together with each joint module to complete the training of the complete movement trajectory of the upper limb.

[0040] This invention can flexibly switch between three configuration modes according to the actual injury site after surgery: Example 1: single module with telescopic grip; Example 2: any two modules with telescopic grip; Example 3: all three modules are assembled into one device; one device can cover early postoperative local single joint rehabilitation, double joint combined rehabilitation, and mid-to-late stage full upper limb composite rehabilitation, adapting to the entire rehabilitation cycle of patients.

[0041] Example 1: Single-joint training example, using a single joint module paired with telescopic grip module 5 for rehabilitation training.

[0042] This embodiment is suitable for patients who have only a single joint with impaired motor function after surgery, while the function of the other joints is intact. Depending on the location of the affected area, any one of the three modules, namely shoulder joint module 2, wrist joint module 3, and elbow joint module 4, can be selected and assembled with telescopic grip module 5.

[0043] Taking the shoulder joint as an example: Select shoulder joint module 2, and directly insert the basic plug 501 of telescopic grip module 5 into the swing arm plug 205 of shoulder joint module 2, insert the plug to lock, and complete the assembly; bind and fix the assembled module to the affected upper limb 8. During training, the muscle electromyography (EMG) collection electrode 7 is attached to the shoulder muscles of the healthy upper limb 6, and the muscle electrostimulation electrode 9 is attached to the shoulder muscles of the affected side. When the patient moves the healthy shoulder, an EMG signal is generated. The controller recognizes the intention to raise or lower the shoulder. On the one hand, it controls the electrostimulation electrode 9 to stimulate the contraction of the shoulder muscles on the affected side. On the other hand, it controls the shoulder motor 202 to drive the swing arm 204 to swing through the belt drive component 203, providing mechanical assistance to the affected shoulder joint and completing the single-joint mirror rehabilitation training of the shoulder joint.

[0044] Similarly, when the affected area is the wrist joint, the wrist joint module 3 is selected alone, and the basic plug 501 of the telescopic grip module 5 is directly inserted and locked into the mother plate plug 308 of the wrist joint module 3. When the affected area is the elbow joint, the elbow joint module 4 is selected alone, and the basic plug 501 of the telescopic grip module 5 is directly inserted and locked into the swing block plug 408 of the elbow joint module 4. During training, only the motor and electrical stimulation channel corresponding to the currently assembled module are activated. Other unassembled modules do not need to be installed. The overall wearable size is small, avoiding squeezing and friction on intact joints and surgical wounds, and is suitable for early single-joint local rehabilitation care after surgery.

[0045] Example 2: Dual-joint combination training example, selecting any two of the three joint modules and combining them with the telescopic grip module 5.

[0046] This embodiment addresses a scenario where a patient has postoperative functional impairment in two joints but no intervention is needed for a third joint. Since the input and output connection structures of each module are standardized, the intermediate joint modules that are not needed can be skipped during assembly. There is no need to strictly follow the assembly order of shoulder, wrist, and elbow. The following describes three sub-embodiments.

[0047] Example 2-1: Shoulder joint module 2 combined with elbow joint module 4 (skipping wrist joint module 3)

[0048] Suitable for postoperative rehabilitation scenarios where patients have shoulder or elbow joint injuries but intact wrist joint function. Assembly steps: Insert the elbow joint plug 402 on the input side of the elbow joint module 4 directly into the swing arm pin port 205 at the output end of the shoulder joint module 2, and lock it with a pin to achieve direct docking between the shoulder joint module 2 and the elbow joint module 4. Do not assemble the wrist joint module 3 throughout the process. Then, insert the basic plug 501 of the telescopic grip module 5 into the swing block pin port 408 at the output end of the elbow joint module 4 and lock it. After assembly, the whole thing is bound to the affected upper limb 8.

[0049] Training process: Electromyography (EMG) electrodes 7 are attached to the corresponding muscle groups of the healthy upper limb (shoulder and elbow), and electrical stimulation electrodes 9 are attached to the corresponding muscles of the affected shoulder and elbow. When the controller recognizes the movement intention of the healthy shoulder joint, the shoulder motor 202 drives the connected swing arm 204 to swing, which in turn drives the elbow joint module 4 and the telescopic grip module 5 assembled at the rear to swing as a whole, thus completing the shoulder joint flexion and extension assistance. When the controller recognizes the flexion and extension intention of the healthy elbow joint, the elbow motor 403 drives the drive bevel gear 404 to mesh with the driven bevel gear 407, which drives the connected swing block 406 to swing, thus realizing the elbow joint flexion and extension assistance. At the same time, the electrical stimulation electrodes 9 synchronously stimulate the corresponding muscle groups of the affected shoulder and elbow, realizing the mirror-coordinated rehabilitation training of the shoulder and elbow joints. The wrist joint has no mechanical structure constraint, and the patient's wrist can move freely.

[0050] Example 2-2: Shoulder joint module 2 combined with wrist joint module 3 (skipping elbow joint module 4)

[0051] Suitable for postoperative rehabilitation scenarios where patients have damaged shoulder and wrist joints but intact elbow joint function. Assembly steps: Insert the wrist joint plug 302 of the wrist joint module 3 into the swing arm plug 205 of the shoulder joint module 2 and lock it in place, so that the shoulder joint module 2 and the wrist joint module 3 can be directly assembled. Do not assemble the elbow joint module 4. Insert the base plug 501 of the telescopic grip module 5 into the mother plate plug 308 of the wrist joint module 3 and lock it in place. Then bind the whole thing to the affected upper limb 8.

[0052] Training process: Electromyography (EMG) electrodes 7 are placed on the shoulder and wrist muscle groups of the unaffected upper limb (6), and electrical stimulation electrodes 9 are placed on the shoulder and wrist of the affected side. The shoulder joint movement intention is identified, and the shoulder motor 202 drives the wrist joint module 3 and the telescopic grip module 5 to swing, thus completing the shoulder joint assistance. The wrist pronation or supination intention is identified, and the wrist motor 303 drives the gear 304 to mesh with the crescent tooth 306 to drive the open mother plate 307 to rotate, outputting wrist joint rotation assistance. Electrical stimulation is triggered simultaneously to complete the mirror rehabilitation of the shoulder and wrist joints. The elbow joint is not mechanically restricted and remains in a free state.

[0053] Examples 2-3: Wrist joint module 3 combined with elbow joint module 4 (skipping shoulder joint module 2)

[0054] Suitable for postoperative rehabilitation scenarios where patients have damaged wrist and elbow joints but intact shoulder joint function. Assembly steps: Insert the elbow joint plug 402 of the elbow joint module 4 directly into the pin port 308 of the output mother plate of the wrist joint module 3, lock the pin, and complete the direct assembly of the wrist joint module 3 and the elbow joint module 4. Do not assemble the shoulder joint module 2. Insert the base plug 501 of the telescopic grip module 5 into the swing block pin port 408 of the elbow joint module 4 and lock it. The entire module is bound to the affected upper limb 8.

[0055] Training process: Electromyography (EMG) electrodes 7 are placed on the healthy elbow and wrist muscle groups, and electrical stimulation electrodes 9 are placed on the corresponding muscles of the affected elbow and wrist. The controller recognizes the wrist joint rotation intention, and the wrist motor 303 drives the elbow joint module 4 and the telescopic grip module 5 to rotate as a whole. The controller recognizes the elbow joint flexion and extension intention, and the elbow motor 403 drives the connected swing block 406 to swing, outputting elbow joint flexion and extension assistance, and simultaneously triggering electrical stimulation on the affected side, realizing coordinated mirror training of the elbow and wrist joints. There is no mechanical constraint on the shoulder joint, and the patient's shoulder can move freely.

[0056] The above-described sub-implementations of the dual-joint system fully embody the core of this invention: it eliminates the need for fixed shoulder, wrist, and elbow to be connected in sequence, allowing direct assembly of any two target joint modules, avoiding unnecessary joint modules, reducing the constraint of redundant structures on intact limbs, and adapting to postoperative rehabilitation after two joint injuries.

[0057] Example 3: Three-module assembly of the complete machine - composite training example

[0058] This embodiment is applicable to the mid-to-late stages of rehabilitation, where patients need to perform overall compound synergistic training of the upper limbs in the shoulder, elbow, and wrist joints. Assembly steps: The wrist joint plug 302 of the wrist joint module 3 is inserted into the swing arm pin 205 of the shoulder joint module 2 and locked; the elbow joint plug 402 of the elbow joint module 4 is inserted into the mother plate pin 308 of the wrist joint module 3 and locked; the basic plug 501 of the telescopic grip module 5 is inserted into the swing block pin 408 of the elbow joint module 4 and locked; the shoulder joint module 2, wrist joint module 3, and elbow joint module 4 are all assembled to form the whole machine 1, and the whole machine 1 is bound and fixed to the affected upper limb 8.

[0059] Training Process: Electromyography (EMG) electrodes 7 are placed on all muscle groups corresponding to the shoulder, elbow, and wrist on the healthy upper limb (6), and electrical stimulation electrodes 9 are placed on all muscle groups corresponding to the shoulder, elbow, and wrist on the affected upper limb (8). The controller receives multi-channel EMG signals from the healthy side and identifies the corresponding movement intentions. When the shoulder joint flexion and extension intention is identified, the shoulder motor 202 drives the connected swing arm 204, which drives the rear wrist joint module 3, elbow joint module 4, and telescopic grip module 5 to swing as a whole. When the elbow joint flexion and extension intention is identified, the elbow motor 403 drives the connected swing block 406 to swing, outputting elbow joint flexion and extension assistance. When the wrist joint pronation and supination intention is identified, the wrist motor 303 drives the crescent-shaped tooth 306 to rotate the open mother plate 307, outputting wrist joint rotation assistance. The motor movements of each joint can be executed independently or synchronously. At the same time, the controller drives the electrical stimulation electrodes 9 to output pulse current to the corresponding muscles on the affected side. The electrical stimulation activates the muscles and works in conjunction with the mechanical assistance to complete the multi-joint composite mirror rehabilitation training of the upper limb.

[0060] Mechanical assisted working process: After the corresponding mode is assembled, the shoulder motor 202 of the shoulder joint module 2 drives the connecting swing arm 204 to swing through the belt transmission component 203, realizing shoulder joint flexion and extension assistance. The wrist motor 303 of the wrist joint module 3 drives the gear 304 to mesh with the crescent tooth 306, driving the open mother plate 307 to rotate, realizing wrist joint pronation and supination assistance. The elbow motor 403 of the elbow joint module 4 drives the driving bevel gear 404 to mesh with the driven bevel gear 407, driving the connecting swing block 406 to swing, realizing elbow joint flexion and extension assistance. The assembled modules can transmit the rear load movement with the driving action. The unassembled modules do not need to be connected and do not participate in the movement.

[0061] Mirror-image electrical stimulation coordinated control process: During training, electromyography (EMG) acquisition electrodes 7 are attached to the surface of the target muscle of the healthy upper limb 6, and electrical stimulation electrodes 9 are attached to the surface of the target muscle of the affected upper limb 8. The EMG acquisition electrodes 7 pick up the EMG signals generated by the force exertion of the muscles of the healthy upper limb 6 and transmit them to the controller. The controller analyzes and processes the EMG signals and identifies the patient's movement intention. After identifying the movement intention, the controller controls the electrical stimulation electrodes 9 to output pulse current to stimulate the corresponding muscles of the affected upper limb 8 to contract. At the same time, it controls the internal motor of the already assembled joint module to synchronously output mechanical assistance, so that the muscle contraction brought about by electrical stimulation and the mechanical module assistance work together to ultimately realize the mirror replication of the movement of the healthy upper limb 6 by the affected upper limb 8, and complete the upper limb rehabilitation training in the corresponding mode.

[0062] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0063] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only for the purpose of helping to understand the method and core ideas of the present invention. The above are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, and the existence of an infinite number of specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. An electrical stimulation rehabilitation training device for surgical care, comprising a complete machine (1), said complete machine (1) comprising a shoulder joint module (2), a wrist joint module (3), an elbow joint module (4) and a telescopic grip module (5), characterized in that, It also includes the healthy upper limb (6), with electromyography (EMG) collection electrodes (7) attached to the healthy muscles of the healthy upper limb (6), and the affected upper limb (8). The whole machine (1) is installed on the limb of the affected upper limb (8), and an electrical stimulation electrode (9) is attached to the affected muscles of the affected upper limb (8). The EMG collection electrode (7) picks up the EMG signals generated by the muscles of the healthy upper limb (6) and sends them to the controller. After processing by the controller, the movement intention is identified, and then the electrical stimulation electrode (9) outputs a pulse current to stimulate the corresponding muscle contraction of the affected upper limb (8), so as to realize the mirror replication of the movement made by the affected upper limb (8) to the healthy upper limb (6).

2. An electrical stimulation rehabilitation training device for surgical care according to claim 1, characterized in that, The shoulder joint module (2) includes a frame (201), a shoulder motor (202) is fixedly installed on the outside of the frame (201), and a belt drive component (203) is sleeved on the drive pulley fixed to the rotating end of the shoulder motor (202).

3. An electrical stimulation rehabilitation training device for surgical care according to claim 2, characterized in that, The shoulder joint module (2) also includes a connecting swing arm (204) that is rotatably hinged to the inside of the frame (201). The driven pulley that is fixed to the hinge shaft of the connecting swing arm (204) is rotated and driven by the shoulder motor (202) through the belt drive component (203). The end of the connecting swing arm (204) is provided with a swing arm pin port (205).

4. An electrical stimulation rehabilitation training device for surgical care according to claim 1, characterized in that, The wrist joint module (3) includes an open ring (301), and a wrist joint plug (302) is fixedly connected to the rear end of the open ring (301). The wrist joint plug (302) is inserted into the swing arm plug port (205) at the end of the connecting swing arm (204) by a pin pairing.

5. An electrical stimulation rehabilitation training device for surgical care according to claim 4, characterized in that, The wrist joint module (3) also includes a wrist motor (303) fixed to the bottom of the wrist joint plug (302), and a gear (304) is fixedly connected to the rotating end of the wrist motor (303).

6. The electrical stimulation rehabilitation training device for surgical care according to claim 5, characterized in that, The wrist joint module (3) also includes a limiting step (305) disposed on the front side of the opening ring (301). The limiting step (305) has a crescent tooth (306) on its outer periphery for limiting rotation. The tooth shape of the outer arc surface of the crescent tooth (306) meshes with the gear (304). An opening mother plate (307) is coaxially fixed at the end of the crescent tooth (306), and a mother plate pin hole (308) is provided at the end of the opening mother plate (307).

7. The electrical stimulation rehabilitation training device for surgical care according to claim 1, characterized in that, The elbow joint module (4) includes an open male plate (401), and an elbow joint plug (402) is fixedly installed at the rear end of the open male plate (401). The elbow joint plug (402) is inserted into the female plate plug hole (308) at the end of the open female plate (307) by means of a pin.

8. The electrical stimulation rehabilitation training device for surgical care according to claim 7, characterized in that, The elbow joint module (4) also includes an elbow motor (403) fixedly installed on the outer edge of the rear side of the open male plate (401), and the rotating end of the elbow motor (403) is fixedly connected with a drive bevel gear (404).

9. An electrical stimulation rehabilitation training device for surgical care according to claim 8, characterized in that, The elbow joint module (4) also includes a shaft frame (405) fixedly installed at both ends of the front side of the open male plate (401). The shaft frame (405) is rotatably hinged to a connecting swing block (406), and the side end of the connecting swing block (406) is connected to a driven bevel gear (407). The driven bevel gear (407) meshes with the drive bevel gear (404) fixedly connected to the rotating end of the elbow motor (403). The bottom end face of the connecting swing block (406) is fixedly installed with a swing block pin port (408).

10. An electrical stimulation rehabilitation training device for surgical care according to claim 1, characterized in that, The telescopic grip module (5) includes a base block (501). The base block (501) can be connected to any of the swing arm pin port (205), mother plate pin port (308) and swing block pin port (408) by a pin. A sliding sleeve (502) is slidably installed on the base block (501), and the bottom of the sliding sleeve (502) is abutted against the outer wall of the base block (501) by a fastening bolt (503). A hand grip (504) is fixedly installed on the top of the sliding sleeve (502).

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