Multi-joint active and passive training system equipped with electrical stimulator control system

Abstract

A multi-joint active and passive training system equipped with an electrical stimulator control system belongs to the field of rehabilitation instruments and comprises a micro-processing control unit, and pins of a main control chip of the micro-processing control unit are respectively connected with a display screen control interface module, a motor driving module, a photoelectric encoder interface, a debugging interface and a power supply module. The device is characterized in that the pin of the microprocessor control unit is also connected with a Bluetooth module I, the Bluetooth module I is wirelessly connected with a Bluetooth module II, the Bluetooth module II is located in an electrical stimulation module, the electrical stimulation module is connected with a pair of electrical stimulation patches through an electrical stimulation patch interface, and the pair of electrical stimulation patches are pasted on the joint part of a patient. Through mutual fusion of active and passive joint rehabilitation training and electrical stimulation treatment, integrated intelligent control can be realized, the rehabilitation training time is shortened, and the rehabilitation training effect of a patient is improved.

Description

Technical Field

[0001] The utility model relates to a multi-joint active and passive training system, in particular to a multi-joint active and passive training system equipped with an electric stimulator control system, belonging to the field of rehabilitation equipment. Background Art

[0002] With the advancement of medical technology and the improvement of people's demand for health, the research and development and application of rehabilitation medical equipment have received increasing attention. Especially in the fields of neurological rehabilitation, orthopedic rehabilitation, sports injury rehabilitation, etc., how to promote the recovery of patients' motor function and improve their quality of life through scientific means has become an important topic. Among them, functional electrical stimulation (FES) rehabilitation therapy during exercise has become an important part of modern rehabilitation treatment due to its unique physiological effects and clinical effects.

[0003] A multifunctional control system for a multi-joint active and passive training device with application number 202420730700.5, Figure 6 is a block diagram of the control system of an existing multi-joint active and passive training device. In this technology, the multifunctional control system of the multi-joint active and passive training device includes a microprocessor control unit 20, and the pins of the main control chip of the microprocessor control unit 20 are respectively connected to an infrared control interface module 21, a display screen control interface module 22, a motor drive module 25, a photoelectric encoder interface 26, a debugging interface 24 and a power supply module 23. The multifunctional control system of the multi-joint active and passive training device can provide functions such as multi-channel control, precise motor speed regulation, intelligent power management and convenient debugging and maintenance, which greatly improves the user experience of the rehabilitation training equipment, and also injects new vitality into the development of intelligent control technology of rehabilitation medical equipment, which can improve the training effect and accelerate the recovery of patients.

[0004] Traditional electrical stimulation devices are usually independent of mechanical rehabilitation training equipment and require manual operation by medical staff or the cooperation of patients. They may have problems such as complex operation, poor synchronization, and difficulty in accurately controlling the training effect.

[0005] In addition, existing active and passive training equipment often only focuses on mechanical power-assisted training and lacks effective integration with electrical stimulation therapy, making it difficult to fully utilize the complementary advantages of the two. Utility Model Content

[0006] In view of the current situation that the existing active and passive training equipment only focuses on joint movement rehabilitation training and lacks electrical stimulation therapy, the utility model provides a multi-joint active and passive training equipment equipped with an electrical stimulator control system, the purpose of which is to achieve integrated intelligent control through the mutual integration of active and passive joint rehabilitation training and electrical stimulation therapy, shorten the rehabilitation training time, and improve the rehabilitation training effect of patients.

[0007] The technical solution of the utility model is: a multi-joint active and passive training system equipped with an electric stimulator control system, comprising a microprocessor control unit, the pins of the main control chip of the microprocessor control unit are respectively connected to a display control interface module, a motor drive module, a photoelectric encoder interface, a debugging interface and a power module, the pins of the microprocessor control unit are also connected to a Bluetooth module 1, the Bluetooth module 1 is wirelessly connected to a Bluetooth module 2, the Bluetooth module 2 is located in the electric stimulation module, the electric stimulation module is connected to a pair of electric stimulation patches through an electric stimulation patch interface, and the pair of electric stimulation patches are attached to the joints of the patient;

[0008] Furthermore, the Bluetooth module 1 and the microprocessor control unit are connected via a serial port.

[0009] Furthermore, the Bluetooth module 1 and the Bluetooth module 2 are connected via a 2.4 GHz wireless connection.

[0010] Furthermore, the electrical stimulation module also includes an electrical stimulation module microprocessor control unit. 、 The microprocessor control unit of the electrical stimulation module is connected to an electrical stimulation patch interface;

[0011] Furthermore, the microprocessor control unit main control chip is connected to the display screen control interface module via a UART serial communication mode, and the display screen control interface module is a Diwen screen control interface module;

[0012] Furthermore, the power module connected to the main control chip of the microprocessor control unit has a 24V DC input power supply, and the output ends have 24V, 12V, 5V, and 3.3V power supplies, wherein the main control chip of the microprocessor control unit is connected to a 3.3V power supply, and the display screen is connected to a 12V power supply;

[0013] Furthermore, the microprocessor control unit main control chip is connected to the photoelectric encoder interface through a four-wire interface, and the four-wire interface is 5V, GND, A signal interface, and B signal interface;

[0014] Further, the microprocessor control unit main control chip is connected to the debugging interface via SWD;

[0015] Furthermore, the microprocessor control unit main control chip is connected to a motor drive module via PWM, the motor drive module is an H-bridge drive module, and the H-bridge drive module is a 24V DC motor speed regulation module.

[0016] The positive effects of the utility model are as follows: by using Bluetooth module 1 on the pin of the microprocessor control unit in the multi-joint active and passive training device, it can be wirelessly connected to Bluetooth module 2 in the electric stimulation module, thereby realizing wireless communication between the training device and the electric stimulator, allowing remote sending of function control and switching instructions, facilitating medical staff to remotely monitor and guide the training process, or for patients to complete training independently in a home environment; by connecting the H-bridge drive module to the main control processing control unit, it is possible to achieve precise speed regulation of the 24V DC motor, thereby ensuring the motion control accuracy of the multi-joint active and passive training device, and providing appropriate strength and speed support for rehabilitation training; by connecting the H-bridge drive module in the microprocessor control unit of the multi-joint active and passive training device, it is possible to drive the 24V DC motor for precise speed regulation, thereby ensuring the smoothness and controllability of the training movements. The photoelectric encoder module interface is used to collect motor speed data in real time, and feedback motor speed and direction information through A and B signal interfaces to achieve accurate monitoring of movement speed, providing a basis for training effect evaluation and parameter adjustment; by connecting the power module in the microprocessor control unit of the multi-joint active and passive training equipment, the power module can provide 24V DC power supply and convert it into the 5V and 3.3V voltages required by the equipment to ensure stable operation of each module. The power supply design takes into account both safety and efficiency, and has over-current and over-voltage protection functions to ensure the safety of equipment and users. By connecting the SWD debugging module in the microprocessor control unit of the multi-joint active and passive training equipment, it can support online debugging and upgrading of the program, which is convenient for equipment performance optimization and Troubleshooting ensures long-term and efficient operation of the equipment. By integrating electrical stimulation therapy with multi-joint active and passive joint training equipment, using MCU main control chip as the core controller, and realizing human-computer interaction through the Diwen screen control interface, it can not only control multi-joint equipment, but also control the electrical stimulator, and provide an intuitive and convenient operation interface. Medical staff or patients can control the various functions of the training instrument through the Diwen screen touch control, including the setting of parameters such as electrical stimulation mode, intensity, frequency, and the selection and switching of active and passive training modes. Through the mutual integration of active and passive joint rehabilitation training equipment and electrical stimulation therapy, integrated intelligent control can be realized, the rehabilitation training time can be shortened, and the rehabilitation training effect of patients can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the wireless connection between the multi-joint active and passive training equipment and the electrical stimulator.

[0018] Figure 2 Block connection diagram of the multi-joint active and passive training equipment control system and the electrical stimulator control system.

[0019] Figure 3 Circuit diagram of the Bluetooth module on the main control board.

[0020] Figure 4Pinout diagram of the microprocessor control unit of the electrical stimulation module.

[0021] Figure 5 Circuit diagram of the electrical stimulation patch interface.

[0022] Figure 6 Block diagram of the control system of existing multi-joint active and passive training equipment.

[0023] Explanation of reference numerals: 10 - electrical stimulation module, 11 - microprocessor control unit of electrical stimulation module, 11a - Bluetooth module one, 11b - Bluetooth module two, 12 - electrical stimulation patch interface, 13a - patch one, 13b - patch two, 20 - microprocessor control unit, 21 - infrared control interface module, 22 - display screen control interface module, 23 - power module, 24 - debugging interface, 25 - motor drive module, 26 - photoelectric encoder interface, 100 - multi-joint active and passive training equipment, 200 - electrical stimulator. DETAILED DESCRIPTION

[0024] The technical solution of the present utility model is described in detail below with reference to the accompanying drawings.

[0025] The microprocessor control unit 20 in the control system of a multi-joint active and passive training device with application number 202420730700.5 and the circuit diagram of the infrared control interface module 21, the circuit diagram of the display screen control interface module 22, the circuit diagram of the motor drive module 25, the circuit diagram of the photoelectric encoder interface 26, the circuit diagram of the debugging interface 24 and the circuit diagram of the power supply module 23 connected to the pins of the main control chip of the microprocessor control unit 20 have been disclosed and will not be repeated in the technology of the present utility model.

[0026] The technical solution of the utility model is: a multi-joint active and passive training system equipped with an electric stimulator control system, Figure 1 It is a wireless connection diagram of multi-joint active and passive training equipment and electrical stimulator. Figure 2 It is a block connection diagram of the multi-joint active and passive training equipment control system and the electrical stimulator control system. Figure 4It is a pin diagram of the microprocessor control unit of the electrical stimulation module. The multi-joint active and passive training system equipped with the electrical stimulator control system includes a microprocessor control unit 20. The pins of the main control chip of the microprocessor control unit 20 are respectively connected to the display control interface module 22, the motor drive module 25, the photoelectric encoder interface 26, the debugging interface 24 and the power module 23. The pins of the microprocessor control unit are also connected to a Bluetooth module 11a. The Bluetooth module 11a is wirelessly connected to the Bluetooth module 2 11b. The Bluetooth module 2 11b is located in the electrical stimulation module 10. A pair of electrical stimulation patches are connected to the electrical stimulation module 10 through the electrical stimulation patch interface 12. The pair of electrical stimulation patches are pasted on the patient's joints. The pair of electrical stimulation patches include a patch 13a and a patch 2 13b, one of which is a positive pole and the other is a negative pole.

[0027] Figure 3 It is a circuit diagram of the Bluetooth module of the main control board, wherein the Bluetooth module 11a and the microprocessor control unit 20 are connected in a serial port manner.

[0028] The Bluetooth module 1 11a and the Bluetooth module 2 11b are connected wirelessly using 2.4 GHz.

[0029] Figure 5 The electrical stimulation patch interface circuit diagram, the electrical stimulation module 10 also includes an electrical stimulation module microprocessor control unit 11 、 The electrical stimulation module microprocessor control unit 11 is connected to an electrical stimulation patch interface 12 .

[0030] The main control chip of the microprocessor control unit 20 is connected to the display screen control interface module 22 via a UART serial communication mode, and the display screen control interface module 22 is a Diwen screen control interface module.

[0031] The power module 23 connected to the main control chip of the microprocessor control unit 20 has a 24V DC input power supply, and the output ends have 24V, 12V, 5V, and 3.3V power supplies, wherein the main control chip of the microprocessor control unit 20 is connected to a 3.3V power supply, and the display screen is connected to a 12V power supply.

[0032] The main control chip of the microprocessor control unit 20 is connected to the photoelectric encoder interface 26 through a four-wire interface, and the four-wire interface is respectively 5V, GND, A signal interface, and B signal interface.

[0033] The main control chip of the microprocessor control unit 20 is connected to the debugging interface 24 via SWD.

[0034] The main control chip of the microprocessor control unit 20 is connected to a motor drive module 25 through PWM mode. The motor drive module 25 is an H-bridge drive module, and the H-bridge drive module is a 24V DC motor speed regulation module.

[0035] The positive effects of the utility model are as follows: through the Bluetooth module 1 11a on the pin of the microprocessor control unit (MCU) 20 in the multi-joint active and passive training device 100, it can be wirelessly connected to the Bluetooth module 2 11a in the electrical stimulation module 10, so as to realize wireless communication between the training device and the electrical stimulator 200, and allow remote sending of function control and switching instructions, so as to facilitate medical staff to remotely monitor and guide the training process, or patients to complete the training independently in a home environment, and through the connection between the motor drive module 25 and the main microprocessor control unit 20, it can realize the precise speed regulation of the 24V DC motor, and ensure the multi-joint active and passive training. The motion control accuracy of the joint active and passive training device 200 provides appropriate strength and speed support for rehabilitation training; by connecting the motor drive module 25 in the microprocessor control unit 20 of the multi-joint active and passive training device 100, the 24V DC motor can be driven for precise speed regulation to ensure the smoothness and controllability of the training movements; the photoelectric encoder module interface 26 is used to collect motor speed data in real time, and the motor speed and direction information is fed back through the A and B signal interfaces to achieve accurate monitoring of the movement speed, providing a basis for training effect evaluation and parameter adjustment ... The power module 23 is connected to the element 20, and the power module 23 can provide 24V DC power supply and convert it into 5V and 3.3V voltages required by the equipment to ensure stable operation of each module. The power supply design takes into account both safety and efficiency, and has over-current and over-voltage protection functions to ensure the safety of the equipment and users. By connecting the SWD debugging module 24 to the microprocessor control unit 20 of the multi-joint active and passive training equipment 100, it can support program online debugging and upgrading, facilitate equipment performance optimization and troubleshooting, and ensure long-term and efficient operation of the equipment. By integrating the electrical stimulation therapy device 200 with the multi-joint active and passive joint training equipment 100, The microprocessor control unit 20 main control chip is used as the core controller, and human-computer interaction is realized through the Diwen screen control interface. It can not only control multi-joint equipment, but also control the electrical stimulator 200, and can provide an intuitive and convenient operation interface. Medical staff or patients can control the various functions of the training instrument through the Diwen screen touch control, including the setting of electrical stimulation mode 10, intensity, frequency and other parameters, as well as the selection and switching of active and passive training modes. Through the mutual integration of active and passive joint rehabilitation training and electrical stimulation treatment, integrated intelligent control can be realized, the rehabilitation training time can be shortened, and the rehabilitation training effect of patients can be improved.

Claims

1. A multi-joint active and passive training system equipped with an electric stimulator control system, comprising a microprocessor control unit, the pins of the main control chip of which are respectively connected to a display control interface module, a motor drive module, a photoelectric encoder interface, a debugging interface and a power module, characterized in that: The pins of the microprocessor control unit are also connected to Bluetooth module 1, and Bluetooth module 1 is wirelessly connected to Bluetooth module 2. Bluetooth module 2 is located in the electrical stimulation module, and a pair of electrical stimulation patches are connected to the electrical stimulation module through the electrical stimulation patch interface. The pair of electrical stimulation patches are pasted on the patient's joints.

2. The multi-joint active and passive training system equipped with an electrical stimulator control system according to claim 1, characterized in that: The Bluetooth module 1 and the microprocessor control unit are connected in a serial port manner.

3. The multi-joint active and passive training system equipped with an electrical stimulator control system according to claim 1, characterized in that: The electrical stimulation module also includes an electrical stimulation module microprocessor control unit 、 The microprocessor control unit of the electrical stimulation module is connected with an electrical stimulation patch interface.

4. The multi-joint active and passive training system equipped with an electrical stimulator control system according to claim 1, characterized in that: The Bluetooth module 1 and the Bluetooth module 2 are connected wirelessly at 2.4 GHz.

5. The multi-joint active and passive training system equipped with an electrical stimulator control system according to claim 1, characterized in that: The microprocessor control unit main control chip is connected to the display screen control interface module via a UART serial communication mode, and the display screen control interface module is a Diwen screen control interface module.

6. The multi-joint active and passive training system equipped with an electrical stimulator control system according to claim 1, characterized in that: The power module connected to the main control chip of the microprocessor control unit has a 24V DC input power supply, and the output ends have 24V, 12V, 5V, and 3.3V power supplies, among which the main control chip of the microprocessor control unit is connected to a 3.3V power supply, and the display screen is connected to a 12V power supply.

7. The multi-joint active and passive training system equipped with an electrical stimulator control system according to claim 1, characterized in that: The main control chip of the microprocessor control unit is connected to the photoelectric encoder interface through a four-wire interface, and the four-wire interface is respectively 5V, GND, A signal interface, and B signal interface.

8. The multi-joint active and passive training system equipped with an electrical stimulator control system according to claim 1, characterized in that: The microprocessor control unit main control chip is connected to the debugging interface via SWD.

9. The multi-joint active and passive training system equipped with an electrical stimulator control system according to claim 1, characterized in that: The microprocessor control unit main control chip is connected to a motor drive module through a PWM mode. The motor drive module is an H-bridge drive module, and the H-bridge drive module is a 24V DC motor speed regulation module.

Images