Rehabilitation training robot for driving healthy side by affected side based on brain-computer interface
The BCI-based rehabilitation robot uses the affected side to drive healthy side movements, addressing autonomy and efficiency issues by enhancing neural and muscular function and coordination through coordinated exercises.
Patent Information
- Application Number
- CN202421977176.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-15
- Publication Date
- 2025-07-15
- Estimated Expiration
- 2034-08-15
AI Technical Summary
Existing rehabilitation training robots cannot effectively improve the autonomy and recovery efficiency of patients' affected limbs, and traditional methods may lead to neglect of affected limbs and insufficient exercise of the central nervous system.
A robot that drives healthy rehabilitation training based on brain-computer interface technology is adopted to drive healthy rehabilitation training of the affected limbs through the affected limbs leading the coordinated movement of the healthy limbs, combined with virtual reality technology, and provides visual feedback to achieve active rehabilitation training of the affected limbs.
Significantly improve the participation and functional recovery of the affected limbs, promote neuronal connection and blood circulation, enhance motor coordination, and enhance patients' confidence and motivation for recovery.
Smart Images
Figure CN223095780U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of medical devices, in particular to a rehabilitation training robot for driving the healthy side by the affected side based on a brain-computer interface. Background Technique
[0002] The medical rehabilitation training robot is a combination of an industrial robot and a medical robot. The 1980s was the starting stage of the research on rehabilitation robots, and the research on rehabilitation robots in the United States, the United Kingdom and Canada was at the leading level in the world. Before 1990, 56 research centers around the world were distributed in 5 industrial zones: North America, the Commonwealth, Canada, the European continent, the Scandinavian Peninsula and Japan. After 1990, the research on rehabilitation robots entered a period of all-round development. The research on rehabilitation robots mainly focuses on several aspects such as rehabilitation manipulators, hospital robot systems, intelligent wheelchairs, prosthetics and rehabilitation treatment robots. At present, the rehabilitation training for patients mainly includes:
[0003] (1) Passive rehabilitation training
[0004] In the initial stage of rehabilitation, the muscle strength of the affected limb of the patient decreases, and it is easy to overly rely on the healthy limb for daily activities, which is insufficient for the rehabilitation of the affected limb. If the rehabilitation exercise is entirely carried out by the family members, according to the personal time arrangement and professional knowledge of the family members, the training volume may be insufficient or the movements may not be standard enough, affecting the subsequent rehabilitation effect; if the rehabilitation therapist and rehabilitation equipment drive the patient to exercise, the degree of active cooperation of the patient during the rehabilitation process cannot be judged, and the central nervous system is not fully exercised.
[0005] (2) Mirror therapy
[0006] A mirror is placed between the healthy side and the affected side. The patient controls the movement of the healthy side and observes the influence of the mirror image projected onto the position of the affected side. The visual effect of the recovery of the affected side activates the corresponding motor control brain area and mirror neurons, enhancing the activity of the central nervous system. This training method does not perform targeted rehabilitation training on the muscles of the affected side, and additional daily muscle exercises are required.
[0007] (3) Active movement of the healthy side driving the affected side
[0008] Let the patient's healthy side guide the affected side to perform slow movements to promote the improvement of the muscle function of the patient's affected side. This training can reflect the initiative of the patient's rehabilitation, and the training effect is limited by the patient's self-control and professionalism.
[0009] In traditional rehabilitation training, patients may overly rely on the healthy limb, leading to the neglect of the rehabilitation exercises of the affected limb, which in turn causes the habitual disuse and functional degradation of the affected limb. This situation may also be accompanied by insufficient exercise of the central nervous system, affecting the accuracy and coordination of limb movement. To overcome these challenges and promote the balance of neurotransmitters, we have adopted advanced brain-computer interface (BCI) technology and virtual reality (VR) technology. Summary of the Utility Model
[0010] (I) Technical Problems to be Solved
[0011] In view of the above problems, the present utility model provides a rehabilitation training robot for driving the healthy side with the affected side based on a brain-computer interface, especially a medical rehabilitation training robot for driving the healthy side with the affected side of a brain-computer interface for patient rehabilitation training, aiming to solve the problems of the autonomy of patient rehabilitation training, the efficiency of recovery, and the innovation of medical equipment in the current field of rehabilitation training robots.
[0012] (II) Technical Solutions
[0013] To solve the above technical problems, the present utility model provides a rehabilitation training robot for driving the healthy side with the affected side based on a brain-computer interface, mainly including: a function display screen, a control panel, an upper plate frame, a lower plate frame, a support frame, a front plate frame, a right healthy hand, and a left healthy hand. The function display screen is installed on the control panel, the control panel is installed on the support frame, the front plate frame is used to support the control panel, the upper plate frame is installed below the control panel, the front plate frame is connected to the upper plate frame, the control panel and the front plate frame are connected at a certain angle, the front plate frame is located in front of the support frame, the support frame is vertically installed on the lower support base, a support box body is installed between the upper plate frame and the lower support base, and the support box body is connected to the rear side of the front plate frame. The right healthy hand mainly includes a right healthy hand handle, a right healthy hand upper cover, right healthy hand finger joints, and a right healthy hand support frame. The left healthy hand mainly includes a left healthy hand handle, a left healthy hand upper cover, left healthy hand finger joints, and a left healthy hand support frame. The right healthy hand and the left healthy hand are located on both sides of the upper plate frame of the rehabilitation training robot for the patient to wear on the left and right hands, so as to facilitate the connection of the brain-computer interface during the patient's rehabilitation movement.
[0014] Preferably, the control panel is in the shape of a cuboid, and two screws are installed on the control panel for connecting the control panel to the front plate frame.
[0015] Preferably, a square groove is opened on the front plate frame for the guide plate to pass through, and the front plate frame is a square flat plate.
[0016] Preferably, the support frame is located at the center of the lower support base, and the support frame is used to maintain the stability of the rehabilitation training robot.
[0017] Preferably, the lower support base is trapezoidal, and a support box body is installed above the lower support base.
[0018] Preferably, the support box body is a regular cube, and the support box body is the body of the rehabilitation training robot. The support box body is located behind the front plate frame, and the support box is composed of two cube-shaped bodies with the same shape.
[0019] Preferably, the right healthy side hand mainly includes a right healthy side handle, a right healthy side upper cover, right healthy side finger joints, and a right healthy side hand support frame. The right healthy side handle is located on one side of the right healthy side hand. The right healthy side finger joints are divided into five finger joints, and the right healthy side finger joints are fixed on the right healthy side upper cover. The right healthy side hand support frame is located below the right healthy side upper cover.
[0020] Preferably, the left healthy side hand mainly includes a left healthy side handle, a left healthy side upper cover, left healthy side finger joints, and a left healthy side hand support frame. The left healthy side handle is located on one side of the left healthy side hand. The left healthy side finger joints are divided into five finger joints, and the left healthy side finger joints are fixed on the left healthy side upper cover. The left healthy side hand support frame is located below the left healthy side upper cover.
[0021] Beneficial effects
[0022] 1. The rehabilitation training robot for driving the healthy side by the affected side based on the brain-computer interface provided by the present utility model adopts an innovative rehabilitation training method, that is, the dominant role of the affected side limb drives the coordinated movement of the healthy side limb. This training method not only significantly improves the participation degree of the affected side limb, but also helps to stimulate the potential of the affected side limb and promote the recovery of its function. When the healthy side limb moves, the meridians on the epidermis of the same-side cerebral hemisphere are more active, which can better awaken the neurotransmitters in the brain, stimulate the connection between neurons, strengthen the blood circulation of the body, promote the improvement of the metabolic rate, and create favorable conditions for the rehabilitation of the affected cerebral area.
[0023] 2. The rehabilitation training robot based on the brain-computer interface provided by the present utility model can enhance the activity ability of the affected limb through the training mode of driving the healthy side with the affected side. Through continuous motion stimulation, it promotes the recovery of nerve and muscle functions. It utilizes the movement of the healthy limb to promote the blood circulation and metabolism of the affected limb, providing necessary nutrition and oxygen for the nerve repair and regeneration of the ipsilateral cerebral hemisphere. In addition, through the coordinated movement of both bilateral limbs, it improves the overall movement coordination and balance ability of the patient, thereby improving their quality of daily life. This rehabilitation training method fully embodies the complementarity and interactivity of the bilateral limbs of the human body. Through the leading role of the affected limb, it stimulates the patient's internal motivation and promotes their comprehensive rehabilitation. At the same time, this training method also provides the patient with a positive and active participation in the rehabilitation experience, helping to improve the patient's confidence and motivation for rehabilitation.
[0024] 3. The rehabilitation training robot based on the brain-computer interface provided by the present utility model introduces the motor imagery brain-computer interface technology. This technology can accurately interpret the signals sent by the brain, especially the electroencephalogram activities generated during motor imagery. Through this technology, it can real-time monitor and analyze the electroencephalogram signals of the patient. Once a signal that meets the requirements of a specific movement pattern is detected, the BCI system will be automatically triggered to guide the device to drive the patient's limb to perform corresponding movements. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] Figure 1 is the overall structure diagram of the rehabilitation training robot based on the brain-computer interface of the present utility model;
[0026] Figure 2 is the side view of the rehabilitation training robot based on the brain-computer interface of the present utility model;
[0027] Figure 3 is the upper side structure diagram of the right healthy hand of the rehabilitation training robot based on the brain-computer interface of the present utility model;
[0028] Figure 4 is the lower side structure diagram of the right healthy hand of the rehabilitation training robot based on the brain-computer interface of the present utility model;
[0029] Figure 5 is the upper side structure diagram of the left healthy hand of the rehabilitation training robot based on the brain-computer interface of the present utility model;
[0030] Figure 6 is the lower side structure diagram of the left healthy hand of the rehabilitation training robot based on the brain-computer interface of the present utility model.
[0031] The corresponding component names for the reference numerals in the figures are as follows: 1. Functional display screen; 2. Control panel; 3. Upper plate rack; 4. Lower support base; 5. Support frame; 6. Front plate rack; 701. Right key side handle; 702. Upper cover of the right key side hand; 703. Right key side finger joint; 704. Right key side hand support frame; 705. Lower cover of the right key side hand; 801. Left key side handle; 802. Upper cover of the left key side hand; 803. Left key side finger joint; 804. Left key side hand support frame; 805. Lower cover of the left key side hand; 9. Support box. Detailed implementation manners
[0032] The present application will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0033] The following illustrates the implementation manners of the present application through specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The present application can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.
[0034] It should be noted that the following describes various aspects of the embodiments within the scope of the appended claims. It should be obvious that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is illustrative only. Based on the present application, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspects described herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using other structures and / or functionality in addition to one or more of the aspects described herein.
[0035] It also needs to be noted that the drawings provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner. The drawings only show the components related to the present application and are not drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and proportion of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.
[0036] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the examples can be practiced without these specific details.
[0037] The following describes the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
[0038] Refer to Figures 1 to 5 , the present utility model provides a rehabilitation training robot for driving the healthy side with the affected side based on a brain-computer interface. In order to make the practical purpose, technical solution and advantages of the present utility model clearer, the following describes the specific operation process of the present utility model in detail with reference to the accompanying drawings and the working process of this device.
[0039] The present utility model provides a rehabilitation training robot for driving the healthy side with the affected side based on a brain-computer interface, which mainly includes: a function display screen 1, a control panel 2, an upper plate frame 3, a lower support base 4, a support frame 5, a front plate frame 6, a right healthy hand 7, and a left healthy hand 8. The function display screen 1 is installed on the control panel 2, the control panel 2 is installed on the support frame 5, the front plate frame 6 is used to support the control panel 2, the upper plate frame 3 is installed below the control panel 2, the front plate frame 6 is connected to the upper plate frame 3, the control panel 2 and the front plate frame 6 are connected at a certain angle, the front plate frame 6 is located in front of the support frame 5, the support frame 5 is vertically installed on the lower support base 4, a support box 9 is installed between the upper plate frame 3 and the lower support base 4, and the support box 9 is connected to the rear side of the front plate frame 6. The right healthy hand 7 mainly includes a right healthy hand handle 701, a right healthy hand upper cover 702, right healthy hand finger joints 703, and a right healthy hand support frame 704. The left healthy hand 8 mainly includes a left healthy hand handle 801, a left healthy hand upper cover 802, left healthy hand finger joints 803, and a left healthy hand support frame 804. The right healthy hand 7 and the left healthy hand 8 are located on both sides of the upper plate frame 3 of the rehabilitation training robot and are used for the patient to wear on the left and right hands, so as to facilitate the connection of the brain-computer interface during the patient's rehabilitation exercise.
[0040] Refer to Figure 1 , the control panel 2 is rectangular, and two screws are installed on the control panel 2 for connecting the control panel 2 to the front plate frame 6.
[0041] Refer to Figure 1 , a square groove is opened on the front plate frame 6 for a guide plate to pass through, and the front plate frame 6 is a square flat plate.
[0042] Refer to Figure 1 , the support frame 5 is located at the center of the lower support base 4, and the support frame 5 is used to maintain the stability of the rehabilitation training robot.
[0043] Refer to Figure 1 , the lower support base 4 is trapezoidal, and a support box 9 is installed above the lower support base 4.
[0044] Refer to Figure 1 , the support box body 9 is a regular cube. The support box body 9 is the body of the rehabilitation training robot. The support box body 9 is located behind the front plate frame 6. The support box body 9 is composed of two cube-shaped bodies with the same shape.
[0045] Refer to Figures 2 to 3 , the right healthy hand 7 mainly includes a right healthy hand handle 701, a right healthy hand upper cover 702, right healthy hand finger joints 703, a right healthy hand support frame 704, and a right healthy hand lower cover 705. The right healthy hand handle 701 is located on one side of the right healthy hand. The right healthy hand finger joints 703 are divided into five finger joints. The right healthy hand finger joints 703 are fixed on the right healthy hand upper cover 702. The right healthy hand support frame 704 is located below the right healthy hand upper cover 702.
[0046] Refer to Figures 4 to 5 , the left healthy hand 8 mainly includes a left healthy hand handle 801, a left healthy hand upper cover 802, a left healthy hand lower cover 805, left healthy hand finger joints 803, and a left healthy hand support frame 804. The left healthy hand handle 801 is located on one side of the left healthy hand 8. The left healthy hand finger joints 803 are divided into five finger joints. The left healthy hand finger joints 803 are fixed on the left healthy hand upper cover 802. The left healthy hand support frame 804 is located below the left healthy hand upper cover 802.
[0047] The working principle and specific working process of the affected side driving the healthy side rehabilitation training robot based on the brain-computer interface are as follows: The medical staff wears an EEG cap for the patient. This cap is equipped with electrodes that can capture the electrical activity of the brain. The device obtains the patient's EEG signal in real time, transmits the processed motor imagery EEG signal to the controller through Bluetooth communication for further analysis and decoding, then classifies and identifies the features in combination with the classifier, and then sends the processed EEG control signal to the right healthy hand 7 and the left healthy hand 8 to be converted into actual mechanical motion.
[0048] Under the guidance of medical staff, the patient places both hands on the left and right sides of the upper plate 3 of the rehabilitation training device, and wears rehabilitation training gloves at the same time. These gloves are designed to sense and respond to the intention of movement. When the system detects that the patient has performed the required motor imagery, the rehabilitation training gloves will trigger the mechanical device to drive the affected limb to perform actual movements. At the same time, the patient and medical staff can directly observe the data display interface on the control panel 2 of the rehabilitation training device. This interface will motivate the patient according to the training duration and training situation, and at the same time enable the patient to perceive and adjust their own movements, strengthening the patient's awareness of independent rehabilitation. In addition, the virtual reality (VR) system provides visual guidance, displaying the picture of the healthy hand performing movements, enhancing the patient's visual feedback and motor perception. The rehabilitation training gloves on both sides work simultaneously to drive the coordinated movement of both limbs to complete a series of predetermined rehabilitation training actions. After completing all steps, the patient ends this rehabilitation training and repeats the above steps according to the set number of training times.
[0049] For the same and similar parts between the various embodiments in this specification, reference can be made to each other. Each embodiment focuses on the differences from other embodiments.
[0050] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims
1. A rehabilitation training robot for driving the healthy side by the affected side based on a brain-computer interface, characterized in that: It includes a functional display screen (1), a control panel (2), an upper plate frame (3), a lower support base (4), a support frame (5), a front plate frame (6), a right key side hand (7), and a left key side hand (8). The functional display screen (1) is installed on the control panel (2), the control panel (2) is installed on the support frame (5), the front plate frame (6) is used to support the control panel (2), the upper plate frame (3) is installed below the control panel (2), the front plate frame (6) is connected to the upper plate frame (3), the control panel (2) and the front plate frame (6) are connected at a certain angle, the front plate frame (6) is located in front of the support frame (5), the support frame (5) is vertically installed on the lower support base (4), a support box body (9) is installed between the upper plate frame (3) and the lower support base (4), the support box body (9) is connected to the rear side of the front plate frame (6). The right key side hand (7) mainly includes a right key side handle (701), a right key side upper cover (702), right key side finger joints (703), and a right key side hand support frame (704). The left key side hand (8) mainly includes a left key side handle (801), a left key side upper cover (802), left key side finger joints (803), and a left key side hand support frame (804). The right key side hand (7) and the left key side hand (8) are located on both sides of the upper plate frame (3) of the rehabilitation training robot and are used for the patient to wear on the left and right hands, so as to facilitate the connection of the brain-computer interface during the patient's rehabilitation exercise.
2. The rehabilitation training robot for driving the healthy side with the affected side based on the brain-computer interface according to claim 1, wherein: The control panel (2) is in the shape of a cuboid, and two screws are installed on the control panel (2) for connecting the control panel (2) and the front plate frame (6).
3. The rehabilitation training robot for driving the healthy side with the affected side based on the brain-computer interface according to claim 1, wherein: A square groove is opened on the front plate frame (6) for a guide plate to pass through, and the front plate frame (6) is a square flat plate.
4. The rehabilitation training robot for driving the healthy side by the affected side based on a brain-computer interface according to claim 1, wherein: The support frame (5) is at the central position of the lower support base (4), and the support frame (5) is used to maintain the stability of the rehabilitation training robot.
5. The rehabilitation training robot for driving the healthy side by the affected side based on a brain-computer interface according to claim 1, wherein: The lower support base (4) is trapezoidal, and the support box body (9) is installed above the lower support base (4).
6. The rehabilitation training robot for driving the healthy side by the affected side based on the brain-computer interface according to claim 1, wherein: The support box body (9) is a regular cube, the support box body (9) is the body of the rehabilitation training robot, the support box body (9) is located behind the front plate frame (6), and the support box body (9) is composed of two square bodies with the same shape.
7. The rehabilitation training robot for driving the healthy side with the affected side based on the brain-computer interface according to claim 1, wherein: The right key side hand (7) mainly includes a right key side handle (701), a right key side upper cover (702), right key side finger joints (703), and a right key side hand support frame (704). The right key side handle (701) is located on one side of the right key side hand. The right key side finger joints (703) are divided into five finger joints, and the right key side finger joints (703) are fixed on the right key side upper cover (702). The right key side hand support frame (704) is located below the right key side upper cover (702).
8. The rehabilitation training robot for driving the healthy side by the affected side based on the brain-computer interface according to claim 1, wherein: The left healthy hand (8) mainly includes a left healthy hand grip (801), a left healthy hand upper cover (802), left healthy finger joints (803) and a left healthy hand support frame (804). The left healthy hand grip (801) is located on one side of the left healthy hand (8). The left healthy finger joints (803) are divided into five finger joints and are fixed on the left healthy hand upper cover (802). The left healthy hand support frame (804) is located below the left healthy hand upper cover (802).