Bone-setting reduction rehabilitation assistive device based on AR and EOS imaging technology

Abstract

The utility model relates to a bonesetting reduction rehabilitation assistive device based on AR and EOS imaging technology, which is applied to the field of medical instruments and comprises an EOS imaging system, AR game host equipment and whole-body exoskeleton bonesetting rehabilitation assistive equipment, the EOS imaging system comprises a column-type up-and-down moving track, a scanning platform is arranged in the column-type up-and-down moving track, and the scanning platform is connected with the whole-body exoskeleton bonesetting rehabilitation assistive equipment. A column type up-and-down moving track is arranged in the scanning platform, an EOS imaging device is slidably connected into the column type up-and-down moving track, the AR game host device is located above the scanning platform and comprises an AR game device, the rear end of the AR game device is fixedly connected with a wearing bandage, and the whole-body exoskeleton bonesetting rehabilitation auxiliary device is located below the AR game device. When the system is used, accurate diagnosis can be achieved, bone modeling can be visually conducted, a patient can be guided to conduct bone-setting rehabilitation training through AR game equipment and whole-body exoskeleton bone-setting rehabilitation auxiliary equipment, the patient is actively guided to conduct active rehabilitation training visually and psychologically, and the rehabilitation period is shortened.

Description

Technical Field

[0001] The utility model relates to an orthopedic reduction and rehabilitation aid, in particular to an orthopedic reduction and rehabilitation aid based on AR and EOS imaging technologies applied in the field of medical devices. Background Art

[0002] Orthopedic reduction is an important branch of traditional Chinese medicine and a relatively common treatment method in daily life. Orthopedic reduction mainly corrects and adjusts structures such as bones, joints, and muscles through traditional Chinese medicine techniques to treat diseases of the bone, joint, and muscle systems, and can also solve some other problems such as joint fatigue and soreness of patients.

[0003] AR games have emerged in recent years together with concepts such as the metaverse and VR technology. The full name of AR is augmented reality, which is a technology that combines the real world with virtual information based on real-time computer calculations and multi-sensor fusion. This technology simulates and re-outputs human senses such as vision, hearing, smell, and touch, and the EOS whole-body bone three-dimensional imaging system is a linear scanning system based on a new type of multi-wire proportional chamber, composed of two sets of X-ray tubes and detectors in the anterior-posterior and lateral positions. The EOS imaging system is divided into two measurement methods: two-dimensional measurement mode and three-dimensional measurement mode. The two-dimensional measurement mode takes less time and is more accurate, and the three-dimensional measurement mode can be modeled with software and can obtain more parameters.

[0004] The rehabilitation period of orthopedic reduction varies greatly according to the different injuries and illnesses of patients. For example, the rehabilitation period for joint dislocation only takes 3 to 7 days, while the rehabilitation period for fracture orthopedics is as long as one month. If the patient is older and has a weak constitution, it may even take 2 to 3 months to recover. The long rehabilitation period will cause psychological discomfort to the patient, and the negative psychological state may lead the patient to lose confidence in the rehabilitation process, thus affecting the rehabilitation effect. Content of the Utility Model

[0005] Aiming at the above-mentioned prior art, the technical problem to be solved by the utility model is that the rehabilitation period of orthopedic reduction varies greatly according to the different injuries and illnesses of patients. The rehabilitation period of patients who are older and have a weak constitution is longer than that of ordinary patients. The long rehabilitation period will cause psychological discomfort to the patient, thus affecting the rehabilitation effect.

[0006] To solve the above problems, the present utility model provides an orthopedic reduction and rehabilitation aid based on AR and EOS imaging technologies, which includes an EOS imaging system, an AR game host device, and a whole-body exoskeleton orthopedic rehabilitation assistance device. The EOS imaging system includes a columnar up-and-down moving track, within which a scanning platform is provided. An EOS imaging device is slidably connected within the columnar up-and-down moving track. The AR game host device is located above the scanning platform. The AR game host device includes an AR game device, and a wearing strap is fixedly connected to the rear end of the AR game device. The whole-body exoskeleton orthopedic rehabilitation assistance device is located below the AR game device. The whole-body exoskeleton orthopedic rehabilitation assistance device includes a spinal exoskeleton rehabilitation assistance device, two arm exoskeleton rehabilitation assistance devices, and two leg exoskeleton rehabilitation assistance devices. Shoulder joint surrounding tracks are fixedly connected between the two arm exoskeleton rehabilitation assistance devices and the spinal exoskeleton rehabilitation assistance device. The upper ends of the two leg exoskeleton rehabilitation assistance devices are jointly fixedly connected to a waist fixation integration device. The lower end of the spinal exoskeleton rehabilitation assistance device is fixedly connected to the upper end of the waist fixation integration device.

[0007] In the above orthopedic reduction and rehabilitation aid based on AR and EOS imaging technologies, accurate diagnosis can be achieved, intuitive bone modeling can be carried out, and the AR game device and the whole-body exoskeleton orthopedic rehabilitation assistance device can be used to guide the patient to carry out orthopedic rehabilitation training, actively guiding the patient to take the initiative in rehabilitation training visually and psychologically, and shortening the rehabilitation period.

[0008] As a further improvement of the present application, the spinal exoskeleton rehabilitation assistance device includes a torso fixation and support component, a neck fixation integration component is fixedly connected to the upper end of the torso fixation and support component, and a spinal joint device is fixedly connected to the rear end of the neck fixation integration component.

[0009] As a further improvement of the present application, two torso fixation straps are movably connected between the neck fixation integration component and the waist fixation integration device, and the two torso fixation straps are in an X shape.

[0010] As a further improvement of the present application, the arm exoskeleton rehabilitation assistance device includes a large arm fixed exoskeleton. One end of the large arm fixed exoskeleton close to the spinal exoskeleton rehabilitation assistance device is fixedly connected to the shoulder joint surrounding track, and a large arm fixed strap is fixedly connected to the end of the large arm fixed exoskeleton far from the shoulder joint surrounding track.

[0011] As another improvement of the present application, one end of the large arm fixed strap far from the large arm fixed exoskeleton is fixedly connected to an elbow joint rotation component. One end of the elbow joint rotation component far from the large arm fixed strap is fixedly connected to a small arm fixed exoskeleton, and a small arm fixed strap is fixedly connected to the end of the small arm fixed exoskeleton far from the large arm fixed strap. An arm linear stretching component is jointly fixedly connected to the rear ends of the large arm fixed exoskeleton, the small arm fixed exoskeleton, and the elbow joint rotation component.

[0012] As another improvement of the present application, the leg exoskeleton rehabilitation assistance device includes a hip joint swing assistance component, and hip joint linear stretching components and hip joint line rotation assistance components are fixedly connected to the remote ends of the two hip joint swing assistance components respectively.

[0013] As a supplement to another improvement of the present application, the lower end of the hip joint swing assistance component is rotatably connected to the thigh exoskeleton, the lower end of the thigh exoskeleton is rotatably connected to a knee joint rotation assistance component, knee joint linear stretching components are fixedly connected to the remote ends of the two knee joint rotation assistance components respectively, the lower end of the knee joint rotation assistance component is rotatably connected to the calf exoskeleton, thigh fixing straps are fixedly connected to the corresponding ends of the two thigh exoskeletons respectively, and calf fixing straps are fixedly connected to the corresponding ends of the two calf exoskeletons respectively.

[0014] As another improvement of the present application, a height sensor is fixedly connected to the outer surface of the EOS imaging device, and the height sensor is in signal connection with an external controller.

[0015] In summary, in the actual application process, the EOS imaging device can accurately scan and model the bones of the patient, endow the bone rehabilitation aids with the ability of EOS imaging, help doctors quickly judge the condition of the patient, and guide the whole-body exoskeleton orthopedic rehabilitation assistance device of the patient to move appropriately to assist the patient's rehabilitation training, and can perform orthopedic rehabilitation at a relatively appropriate frequency, reduce the damage caused by sequelae, shorten the rehabilitation period. In addition, the introduction of the AR game device and the use of the orthopedic rehabilitation aids can help the patient actively carry out rehabilitation training. The linear power assistance device of the orthopedic rehabilitation aids can modularly replace and repair the equipment compared with the traditional servo-type power assistance device, thereby reducing the maintenance cost of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a usage diagram of the first embodiment of the present application;

[0017] Figure 2 It is a top view of the structure of the first embodiment of the present application;

[0018] Figure 3 It is a right view of the structure of the first embodiment of the present application;

[0019] Figure 4 It is a front view of the structure of the first embodiment of the present application;

[0020] Figure 5 It is a three-dimensional structure schematic diagram of the first embodiment of the present application;

[0021] Figure 6 It is a front view of the structure of the second embodiment of the present application.

[0022] Description of reference numerals in the figure:

[0023] 1 EOS imaging device, 2 scanning platform, 3 linear stretching component of the arm, 4 vertical moving track of the column, 5 wearing strap, 6 circumferential track of the shoulder joint, 7 torso fixing and supporting component, 8 spinal joint device, 9 hip joint swinging assistance component, 10 thigh exoskeleton, 11 knee joint rotation assistance component, 12 calf exoskeleton, 13 AR game device, 14 neck fixing and integrating component, 15 torso fixing strap, 16 waist fixing and integrating device, 17 thigh fixing strap, 18 calf fixing strap, 19 shoulder joint rotation component, 20 forearm fixed exoskeleton, 21 upper arm fixed exoskeleton, 22 linear stretching component of the hip joint, 23 hip joint line rotation assistance component, 24 linear stretching component of the knee joint, 25 elbow joint rotation component, 26 AR game host device, 27 forearm fixing strap, 28 arm exoskeleton rehabilitation assistance device, 29 upper arm fixing strap, 30 spinal exoskeleton rehabilitation assistance device, 31 whole body exoskeleton bone-setting and rehabilitation assistance device, 32 leg exoskeleton rehabilitation assistance device, 33 EOS imaging system, 34 height sensor. Specific embodiments

[0024] The following describes two embodiments of the present application in detail with reference to the accompanying drawings.

[0025] The first embodiment:

[0026] Figure 1 and Figure 2 Show: A bone-setting and rehabilitation aid based on AR and EOS imaging technologies, including an EOS imaging system 33, an AR game host device 26, and a whole body exoskeleton bone-setting and rehabilitation assistance device 31. The EOS imaging system 33 includes a vertical moving track of the column 4. A scanning platform 2 is provided in the vertical moving track of the column 4. An EOS imaging device 1 is slidably connected in the vertical moving track of the column 4. The EOS imaging device 1 can accurately scan and model the bones of the patient. The AR game host device 26 is located above the scanning platform 2. The AR game host device 26 includes an AR game device 13. The AR game device 13 actively guides the patient's active rehabilitation training visually and psychologically, thereby shortening the rehabilitation period. A wearing strap 5 is fixedly connected to the rear end of the AR game device 13. The whole body exoskeleton bone-setting and rehabilitation assistance device 31 is located below the AR game device 13. The whole body exoskeleton bone-setting and rehabilitation assistance device 31 makes appropriate movements to assist the patient's rehabilitation training. The whole body exoskeleton bone-setting and rehabilitation assistance device 31 includes a spinal exoskeleton rehabilitation assistance device 30, two arm exoskeleton rehabilitation assistance devices 28, and two leg exoskeleton rehabilitation assistance devices 32.

[0027] Figure 3 、 Figure 4 andFigure 5 It is shown that: There is a shoulder joint circumferential track 6 fixedly connected between two arm exoskeleton rehabilitation assistance devices 28 and a spinal exoskeleton rehabilitation assistance device 30. The upper ends of two leg exoskeleton rehabilitation assistance devices 32 are fixedly connected to a waist fixing integrated device 16 together. The lower end of the spinal exoskeleton rehabilitation assistance device 30 is fixedly connected to the upper end of the waist fixing integrated device 16. The spinal exoskeleton rehabilitation assistance device 30 includes a torso fixing and supporting component 7. The upper end of the torso fixing and supporting component 7 is fixedly connected to a neck fixing integrated component 14. The rear end of the neck fixing integrated component 14 is fixedly connected to a spinal joint device 8. There are two torso fixing straps 15 movably connected between the neck fixing integrated component 14 and the waist fixing integrated device 16. The two torso fixing straps 15 are in an X shape. The patient's torso can be fixed by the torso fixing straps 15. The arm exoskeleton rehabilitation assistance device 28 includes a large arm fixing exoskeleton 21. One end of the large arm fixing exoskeleton 21 close to the spinal exoskeleton rehabilitation assistance device 30 is fixedly connected to the shoulder joint circumferential track 6. One end of the large arm fixing exoskeleton 21 far from the shoulder joint circumferential track 6 is fixedly connected to a large arm fixing strap 29. One end of the large arm fixing strap 29 far from the large arm fixing exoskeleton 21 is fixedly connected to an elbow joint rotation component 25. One end of the elbow joint rotation component 25 far from the large arm fixing strap 29 is fixedly connected to a small arm fixing exoskeleton 20. One end of the small arm fixing exoskeleton 20 far from the large arm fixing strap 29 is fixedly connected to a small arm fixing strap 27. The patient's arms can be fixed by the small arm fixing strap 27 and the large arm fixing strap 29 respectively. The rear ends of the large arm fixing exoskeleton 21, the small arm fixing exoskeleton 20 and the elbow joint rotation component 25 are fixedly connected to an arm linear stretching component 3 together. The leg exoskeleton rehabilitation assistance device 32 includes a hip joint swing assistance component 9. One end of each of the two hip joint swing assistance components 9 far from each other is fixedly connected to a hip joint linear stretching component 22 and a hip joint line rotation assistance component 23. The lower end of the hip joint swing assistance component 9 is rotatably connected to a thigh exoskeleton 10. The lower end of the thigh exoskeleton 10 is rotatably connected to a knee joint rotation assistance component 11. One end of each of the two knee joint rotation assistance components 11 far from each other is fixedly connected to a knee joint linear stretching component 24. The lower end of the knee joint rotation assistance component 11 is rotatably connected to a calf exoskeleton 12. One end of each of the two corresponding thigh exoskeletons 10 is fixedly connected to a thigh fixing strap 17. One end of each of the two corresponding calf exoskeletons 12 is fixedly connected to a calf fixing strap 18. The patient's legs can be fixed by the thigh fixing strap 17 and the calf fixing strap 18 respectively.

[0028] During use, when orthopedic rehabilitation training is required, the two arms are fixed respectively by the forearm fixing straps 27 and the upper arm fixing straps 29, the two legs are fixed respectively by the thigh fixing straps 17 and the calf fixing straps 18, the torso is fixed by the torso fixing strap 15, the two arms rely on the arm linear stretching assembly 3 to provide power, and perform circumferential orthopedic rehabilitation training with the elbow joint rotation assembly 25 and the shoulder joint rotation assembly 19 as the axes. The two legs rely on the hip joint line rotation assist assembly 23, the hip joint linear stretching assembly 22, the hip joint swing assist assembly 9, the knee joint rotation assist assembly 11 and the knee joint linear stretching assembly 24 to perform orthopedic rehabilitation training. The spine undergoes spine rehabilitation training through the spine exoskeleton device composed of multiple spine joint devices 8; during training, the AR game device 13 provides different visual guides according to different rehabilitation training methods to guide the patient to actively perform active rehabilitation training, making the patient's rehabilitation psychology more positive. The orthopedic reduction rehabilitation aid based on the AR game auxiliary device and EOS imaging technology helps the patient complete the rehabilitation training more efficiently.

[0029] The second implementation manner:

[0030] Based on the first implementation manner, this implementation manner adds a height sensor 34, and the rest is the same as the first implementation manner.

[0031] The figure shows that a height sensor 34 is fixedly connected to the outer surface of the EOS imaging device 1, and the height sensor 34 is signal-connected to an external controller.

[0032] During use, the height sensor 34 can more accurately model the patient's bones, facilitating the doctor to accurately determine the location of the patient's injury and facilitating the doctor's use.

[0033] Combined with the current actual needs, the above implementation manner adopted in this application, the protection scope is not limited thereto. Within the knowledge scope of those skilled in the art, various changes made without departing from the concept of this application still fall within the protection scope of this utility model.

Claims

1. A bone-setting repositioning rehabilitation aid based on AR and EOS imaging technology, comprising an EOS imaging system (33), an AR game console device (26) and a whole-body exoskeleton bone-setting rehabilitation aid (31), characterized in that: The EOS imaging system (33) comprises a columnar vertical movable track (4), a scanning platform (2) is arranged in the columnar vertical movable track (4), an EOS imaging device (1) is slidably connected in the columnar vertical movable track (4), and the AR game host device (26) is located above the scanning platform (2); The AR game host device (26) comprises an AR game device (13), a wearing strap (5) is fixedly connected to the rear end of the AR game device (13), and the whole body exoskeleton bone-setting rehabilitation auxiliary device (31) is located below the AR game device (13); The whole-body exoskeleton orthopedic rehabilitation auxiliary device (31) comprises a spinal exoskeleton rehabilitation auxiliary device (30), two arm exoskeleton rehabilitation auxiliary devices (28) and two leg exoskeleton rehabilitation auxiliary devices (32), the two arm exoskeleton rehabilitation auxiliary devices (28) and the spinal exoskeleton rehabilitation auxiliary device (30) are fixedly connected with a shoulder joint surround track (6), the upper ends of the two leg exoskeleton rehabilitation auxiliary devices (32) are commonly fixedly connected with a waist fixed integrated device (16), and the lower end of the spinal exoskeleton rehabilitation auxiliary device (30) is fixedly connected to the upper end of the waist fixed integrated device (16).

2. The bone setting and rehabilitation aid based on AR and EOS imaging technology according to claim 1, characterized in that: The spinal exoskeleton rehabilitation auxiliary device (30) comprises a trunk fixing support component (7), the upper end of the trunk fixing support component (7) is fixedly connected to a neck fixing integrated component (14), and the rear end of the neck fixing integrated component (14) is fixedly connected to a spinal joint device (8).

3. The bone setting and rehabilitation aid based on AR and EOS imaging technology according to claim 2, characterized in that: Two trunk fixing straps (15) are movably connected between the neck fixing integrated component (14) and the waist fixing integrated device (16), and the two trunk fixing straps (15) are in an X-shape.

4. The bone setting and repositioning rehabilitation aid based on AR and EOS imaging technology according to claim 1, characterized in that: The arm exoskeleton rehabilitation auxiliary device (28) comprises an upper arm fixing exoskeleton (21), one end of the upper arm fixing exoskeleton (21) close to the spine exoskeleton rehabilitation auxiliary device (30) is fixedly connected to the shoulder joint orbit (6), and one end of the upper arm fixing exoskeleton (21) away from the shoulder joint orbit (6) is fixedly connected to an upper arm fixing strap (29).

5. The bone setting repositioning rehabilitation aid based on AR and EOS imaging technology according to claim 4, characterized in that: One end of the upper arm fixing strap (29) away from the upper arm fixing exoskeleton (21) is fixedly connected to an elbow joint rotating assembly (25), one end of the elbow joint rotating assembly (25) away from the upper arm fixing strap (29) is fixedly connected to a forearm fixing exoskeleton (20), one end of the forearm fixing exoskeleton (20) away from the upper arm fixing strap (29) is fixedly connected to a forearm fixing strap (27), and the rear ends of the upper arm fixing exoskeleton (21), the forearm fixing exoskeleton (20) and the elbow joint rotating assembly (25) are fixedly connected to an arm linear stretching assembly (3).

6. The bone setting and rehabilitation aid based on AR and EOS imaging technology according to claim 1, characterized in that: The leg exoskeleton rehabilitation auxiliary device (32) comprises a hip joint swing auxiliary component (9), and two ends of the hip joint swing auxiliary components (9) that are separated from each other are both fixedly connected to a hip joint linear stretching component (22) and a hip joint linear rotation auxiliary component (23).

7. The bone setting and rehabilitation aid based on AR and EOS imaging technology according to claim 6, characterized in that: The lower end of the hip joint swing auxiliary component (9) is rotatably connected to a thigh exoskeleton (10), the lower end of the thigh exoskeleton (10) is rotatably connected to a knee joint rotation auxiliary component (11), the ends of the two knee joint rotation auxiliary components (11) that are away from each other are fixedly connected to a knee joint linear stretching component (24), the lower end of the knee joint rotation auxiliary component (11) is rotatably connected to a calf exoskeleton (12), the corresponding ends of the two thigh exoskeletons (10) are fixedly connected to a thigh fixing strap (17), and the corresponding ends of the two calf exoskeletons (12) are fixedly connected to a calf fixing strap (18).

8. The bone setting and rehabilitation aid based on AR and EOS imaging technology according to claim 1, characterized in that: A height sensor (34) is fixedly connected to the outer surface of the EOS imaging device (1), and the height sensor (34) is connected to an external controller signal.

Images