Ankle joint rehabilitation medical robot

Abstract

Ankle joint rehabilitation medical robot. The utility model discloses a support, inside and outside turning device and before and after spreading device, be equipped with inside and outside turning device on the support, be equipped with before and after spreading device on inside and outside turning device, before and after spreading device drive foot before and after pitch and turn over, and inside and outside turning device drive foot inside and outside left and right turn over. The present application is mainly for the ankle sprain patient, and the mechanical design is carried out in combination with the theories such as robotics, human kinematics and ergonomics, and the purpose is to solve the problem of providing a two-degree-of-freedom training direction, multi-modal training form and ankle joint rehabilitation medical robot, realize the inside and outside turning of foot, inside bending and outside spreading, and help the patient rehabilitation treatment.

Description

Technical Field

[0001] This utility model relates to a medical robot for ankle joint rehabilitation, belonging to the field of medical devices. Background Technology

[0002] Ankle sprains are a very common sports injury. When the ankle or foot is twisted, sprained, or subjected to excessive external force, the ligaments around the ankle joint are overstretched or torn. When the sprain is severe, ankle flexibility training is necessary during rehabilitation, allowing the ankle joint to move within a certain range. Currently, in China, ankle rehabilitation training mainly relies on physicians manually rotating the patient's ankle repeatedly in a certain direction and speed, and the medical process is primarily controlled by the physician's experience. However, when the number of physicians is limited and the number of patients is large, it is difficult for all patients to receive timely rehabilitation training. In such cases, using medical devices for rehabilitation can greatly improve the efficiency and effectiveness of rehabilitation. With the continuous development of medical devices, many researchers have used the research results of mechanics, electromagnetism, robotics, and other disciplines, combined with medical theories, to design new rehabilitation training methods. Rehabilitation medical robots, as an automated rehabilitation medical device, can help patients conduct scientific and effective rehabilitation training to restore the motor function of their injured areas. Currently, domestic rehabilitation medical robots for ankle rehabilitation still have certain limitations, such as limited freedom of movement, insufficient ability to simulate physician treatment processes, unstable fixation, and discomfort when worn.

[0003] Therefore, there is an urgent need to develop a medical robot for ankle joint rehabilitation to solve the above-mentioned technical problems. Utility Model Content

[0004] This invention primarily targets patients with ankle sprains. It incorporates theories of robotics, kinesiology, and ergonomics in its mechanical design, aiming to solve the problem of developing a rehabilitation medical robot for ankle joints with two degrees of freedom in training directions and multimodal training modes. A brief overview of this invention is provided below to offer a basic understanding of certain aspects. It should be understood that this overview is not an exhaustive summary of the invention. It is not intended to identify key or essential parts of the invention, nor is it intended to limit its scope.

[0005] The technical solution of this utility model:

[0006] An ankle joint rehabilitation medical robot includes a support, an inversion / exversion device, and a front-to-back extension device. The inversion / exversion device is installed on the support, and the front-to-back extension device is installed on the inversion / exversion device. The front-to-back extension device drives the foot to tilt and rotate forward and backward, and the inversion / exversion device drives the foot to rotate inward and backward and left and right.

[0007] The inward and outward flipping device includes an annular flip plate and a first flipping drive device. The front and rear ends of the annular flip plate are rotatably mounted on the support. The first flipping drive device is mounted on the support. At the same time, the first flipping drive device drives the annular flip plate to tilt and flip forward and backward on the support. The forward and backward unfolding device is mounted on the annular flip plate.

[0008] Preferably, the front and rear unfolding device includes an inner pedal and a second flipping drive device. The left and right ends of the inner pedal are rotatably mounted on the annular flip plate, and the second flipping drive device is mounted on the annular flip plate. At the same time, the second flipping drive device drives the inner pedal to flip inward, outward, left and right on the annular flip plate.

[0009] Preferably, both the annular flap and the inner pedal are rotatably mounted to the rotating seat via a rotating shaft.

[0010] Preferably, a limiting post is vertically installed at the end of the rotating shaft, and a limiting groove is formed on the rotating seat, with the limiting post slidably disposed within the limiting groove.

[0011] Preferably, a lower leg fixing bracket is installed on the support.

[0012] Preferably, the support is provided with a pulley at its bottom.

[0013] Preferably, the first tilting drive device includes a drive motor, a driving pulley, a driven pulley, and a transmission belt. The drive motor is fixedly mounted on a support, and the driving pulley is mounted on the output end of the drive motor. The driven pulley is mounted on a rotating shaft connected to the annular tilting plate. The driving pulley and the driven pulley are connected by a transmission belt.

[0014] Preferably, the second flipping drive device includes a flipping motor and a transmission mechanism. The flipping motor is fixedly installed on the annular flip plate, and the flipping motor is connected to the rotating shaft connected to the inner pedal through the transmission mechanism.

[0015] This utility model has the following beneficial effects:

[0016] 1. This utility model adopts a modular series structure of inversion / exversion device and abduction / retraction device, combined with a precision transmission system, which can accurately reproduce the complex physiological movement trajectory of internal rotation / exversion and dorsiflexion / plantar flexion in three-dimensional space of the ankle joint. Compared with traditional single-degree-of-freedom rehabilitation equipment, this device achieves more than 85% coverage of the full range of motion of the ankle joint through dual-degree-of-freedom collaborative control technology, which is more in line with the biomechanical characteristics of human movement;

[0017] 2. This utility model's computer control and data acquisition system controls the motor output to drive the pulley rotation, enabling real-time acquisition of multimodal physiological data such as joint angles, torque, and electromyographic signals. The rehabilitation assessment model, based on machine learning algorithms, can automatically generate personalized training plans to achieve inversion / exversion, flexion / abduction of the foot, aiding in patient rehabilitation. Attached Figure Description

[0018] Figure 1 This is a diagram illustrating the usage status of an ankle joint rehabilitation medical robot.

[0019] Figure 2 This is a front view of a medical robot for ankle joint rehabilitation.

[0020] Figure 3 This is a 3D diagram of a medical robot for ankle joint rehabilitation.

[0021] Figure 4 This is a structural schematic diagram of the inward and outward flipping device and the front and rear unfolding device of this utility model.

[0022] In the diagram: 0-foot, 1-support, 2-inner and outer flipping device, 3-front and rear unfolding device, 4-lower leg fixing bracket, 5-pulley, 21-ring flipping plate, 22-first flipping drive device, 23-rotating shaft, 24-rotating seat, 25-limiting post, 26-limiting groove, 31-inner pedal, 32-second flipping drive device, 221-drive motor, 222-driving pulley, 223-driven pulley, 321-flipping motor, 322-transmission mechanism. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the present utility model. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the present utility model.

[0024] The connections mentioned in this utility model are divided into fixed connections and detachable connections. Fixed connections, also known as non-detachable connections, include but are not limited to conventional fixed connection methods such as folded connections, riveted connections, adhesive connections, and welded connections. Detachable connections include but are not limited to conventional disassembly methods such as threaded connections, snap-fit ​​connections, pin connections, and hinged connections. When a specific connection method is not explicitly defined, it is assumed that at least one existing connection method can always be found to achieve the function, and those skilled in the art can choose according to their needs. For example, a welded connection can be chosen for fixed connections, and a hinged connection can be chosen for detachable connections.

[0025] Specific implementation method one: Combining Figures 1-4 This embodiment describes an ankle joint rehabilitation medical robot, which includes a support 1, an inversion / exversion device 2, and a front-to-back extension device 3. The support 1 is equipped with the inversion / exversion device 2, and the inversion / exversion device 2 is equipped with the front-to-back extension device 3. The front-to-back extension device 3 drives the foot 0 to tilt and rotate forward and backward, while the inversion / exversion device 2 drives the foot 0 to rotate inward and backward and left and right.

[0026] The support 1 has a 10° inclination, forming a slope that conforms to ergonomics and can increase the patient's comfort during treatment. The top and bottom ends of the slope of the support 1 each have a boss for rotating connection with the inversion and reversion device 2.

[0027] The inward and outward flipping device 2 includes an annular flip plate 21 and a first flipping drive device 22. The annular flip plate 21 is an outer ring plate. The front and rear ends of the annular flip plate 21 are rotatably mounted on the support 1. The first flipping drive device 22 is mounted on the support 1. At the same time, the first flipping drive device 22 drives the annular flip plate 21 to achieve forward and backward tilting and flipping on the support 1. The forward and backward unfolding device 3 is mounted on the annular flip plate 21.

[0028] The front and rear unfolding device 3 includes an inner pedal 31 and a second flipping drive device 32. The inner pedal 31 is placed in the center of the annular flap 21. The left and right ends of the inner pedal 31 are rotatably mounted on the annular flap 21. The second flipping drive device 32 is mounted on the annular flap 21. At the same time, the second flipping drive device 32 drives the inner pedal 31 to flip inward, outward, left and right on the annular flap 21.

[0029] The inner pedal 31 has a fixing strap for securing the foot 0.

[0030] Both the annular flap 21 and the inner pedal 31 are rotatably mounted to the rotating seat 24 via the rotating shaft 23.

[0031] In a more preferred embodiment, the annular flap 21 has a rotating shaft 23 at each end, and each rotating shaft 23 is connected to the boss of the support 1 through a rotating seat 24 and a bearing, so that the annular flap 21 can rotate around the axis formed by the two rotating shafts 23.

[0032] In a more preferred embodiment, the inner pedal 31 has a rotating shaft 23 at each end. Each rotating shaft 23 is connected to the annular flap 21 through a rotating seat 24 and a bearing, so that the inner pedal 31 can rotate around the axis formed by the two rotating shafts 23, and the axis of rotation of the inner pedal 31 is perpendicular to the axis of rotation of the annular flap 21.

[0033] The end of the rotating shaft 23 is vertically mounted with a limiting post 25, and the rotating seat 24 is provided with a limiting groove 26. The limiting post 25 is slidably disposed in the limiting groove 26. In order to prevent excessive rotation, a limiting post 25 can be provided at the outer end of each rotating shaft 23 to limit the angle at which the shaft can rotate.

[0034] The support 1 is equipped with a lower leg fixing bracket 4.

[0035] The support 1 is equipped with a pulley 5 at its bottom.

[0036] The first flipping drive device 22 includes a drive motor 221, a driving pulley 222, a driven pulley 223, and a transmission belt. The drive motor 221 is fixedly mounted on the support 1. The output end of the drive motor 221 is connected to the driving pulley 222 via a reducer. The driven pulley 223 is mounted on a rotating shaft 23 connected to the annular flip plate 21. The driving pulley 222 and the driven pulley 223 are connected by a transmission belt. The first flipping drive device 22 also includes a tensioning structure to adjust the tension of the transmission belt.

[0037] The second flipping drive device 32 includes a flipping motor 321 and a transmission mechanism 322. The flipping motor 321 is fixedly installed on the annular flip plate 21. The flipping motor 321 is connected to the rotating shaft 23 connected to the inner pedal 31 through the transmission mechanism 322.

[0038] The transmission mechanism 322 can be a belt drive mechanism or a linkage drive mechanism of the prior art. The purpose is to use the transmission mechanism 322 to drive the inner pedal 31 to rotate.

[0039] Angle sensors are respectively installed on the inward / outward folding device 2 and the forward / backward unfolding device 3, which can detect the rotation angle of the inward / outward folding device and the forward / backward unfolding device relative to the initial position. Let the rotation angle detected by the angle sensor of the inward / outward folding device 2 be A1, and the rotation angle detected by the angle sensor of the forward / backward unfolding device 3 be A2. Then, the computer control and acquisition system can obtain the detection results from these two angle sensors and determine whether the following three formulas are true, namely...

[0040] A1 <T1;

[0041] A2 <T2;

[0042] (A1+A2)< 3(T1+T2) / 4;

[0043] T1 and T2 are three pre-set thresholds.

[0044] If the computer control and acquisition system finds that one of the above three formulas is not true, it will first immediately lock the flip motor 321 and the drive motor 221, and then control the flip motor 321 and the drive motor 221 to rotate so that the annular flip plate 21 and the inner pedal 31 return to their initial positions.

[0045] It also includes a computer control and acquisition system. The computer control and acquisition system acquires the angle information measured by the angle sensor, and simultaneously drives and controls the flip motor 321 and the drive motor 221. It can also passively collect and record the motion process of the flip motor 321 and the drive motor 221. The computer control and acquisition system archives the collected motion process information into a database file. Then, it can control the output of the flip motor 321 and the drive motor 221 according to the database file, thereby reproducing the motion process of the flip motor 321 and the drive motor 221.

[0046] In a more preferred embodiment, when the doctor rotates the patient's ankle, which is fixed on the ankle joint rehabilitation robot according to the ankle rehabilitation medical process, the flip motor 321 and the drive motor 221 remain in a follow-up state, and the computer control and acquisition system collects and stores the movement process of the flip motor 321 and the drive motor 221. After the ankle rehabilitation medical process is completed, the computer control and acquisition system can control the output of the flip motor 321 and the drive motor 221 according to the stored movement process to reproduce the robot's movement process.

[0047] In a more preferred technical solution, when reproducing the robot's movement process, the computer control and acquisition system can adjust the rotation speed of the flip motor 321 and the drive motor 221.

[0048] In summary, the outputs of the flip motor 321 and the drive motor 221 are controlled by the computer control and acquisition system through the human-machine interface. This system can perform active loading control, passive loading information acquisition, and active reproduction control of the acquired information outputs of the flip motor 321 and the drive motor 221.

[0049] The active loading control refers to directly controlling the movement of the motor to rotate the patient's ankle.

[0050] The passive loading information collection refers to the process where, when a physician rotates the patient's ankle, which is fixed to the robot of this invention, the computer records the movement process of each motor.

[0051] The active reproduction control of the collected information means reproducing the motion process of each recorded motor to simulate the doctor's treatment process.

[0052] The work process is as follows:

[0053] During use, the patient places their foot on the inner pedal and secures it with a strap. After proper positioning, the physician rotates the patient's ankle according to the ankle rehabilitation procedure. The medical robot's rotation motor 321 and drive motor 221 follow the movement, and the computer collects and stores the motion of these motors. After the entire process is collected, the rotation motor 321 and drive motor 221 are actively loaded based on the collected information to reproduce their rotation, thus simulating the physician's rehabilitation procedure. The rotation speed of the motors during the medical process can be adjusted by changing the loading frequency of the rotation motor 321 and drive motor 221. For subsequent uses, rehabilitation procedures can be performed directly based on the archived data.

[0054] To protect the patient's ankle and prevent excessive rotation, each of the inversion / exversion device 2 and the abduction / retraction device 3 has an angle sensor to detect the rotation angle of the inversion / exversion device 2 and the abduction / retraction device 3 relative to their initial position. The initial position is where the annular flap 21 and the inner pedal 31 are parallel to the ramp of the support 1. Assuming the rotation angle detected by the angle sensor of the inversion / exversion device 2 is A1, and the rotation angle detected by the angle sensor of the abduction / retraction device 3 is A2, the computer control and acquisition system can obtain the detection results from these two angle sensors and determine whether the following three formulas hold true:

[0055] A1 <T1;

[0056] A2 <T2;

[0057] (A1+A2)< 3(T1+T2) / 4;

[0058] T1 and T2 are three pre-set thresholds;

[0059] If the computer control and acquisition system finds that one of the above three formulas is not true, it will first immediately lock the flip motor 321 and the drive motor 221, and then control the flip motor 321 and the drive motor 221 to rotate so that the annular flip plate 21 and the inner pedal 31 return to their initial positions.

[0060] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be arranged and combined. Those skilled in the art can exhaust all possibilities based on the mathematical knowledge of permutation and combination. Therefore, this utility model will not describe the technical solutions after permutation and combination one by one, but it should be understood that the technical solutions after permutation and combination have been disclosed by this utility model.

[0061] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A medical robot for ankle joint rehabilitation, characterized in that: It includes a support (1), an inward and outward turning device (2) and a front and rear extension device (3). The support (1) is equipped with the inward and outward turning device (2), and the inward and outward turning device (2) is equipped with the front and rear extension device (3). The front and rear extension device (3) drives the foot (0) to tilt and turn forward and backward, and the inward and outward turning device (2) drives the foot (0) to turn inward and outward and left and right. The inward and outward flipping device (2) includes an annular flip plate (21) and a first flipping drive device (22). The annular flip plate (21) is rotatably mounted on the support (1) at both ends. The first flipping drive device (22) is mounted on the support (1). At the same time, the first flipping drive device (22) drives the annular flip plate (21) to tilt and flip forward and backward on the support (1). The forward and backward unfolding device (3) is mounted on the annular flip plate (21).

2. The ankle joint rehabilitation medical robot according to claim 1, characterized in that: The front and rear unfolding device (3) includes an inner pedal (31) and a second flipping drive device (32). The left and right ends of the inner pedal (31) are rotatably mounted on the annular flip plate (21). The second flipping drive device (32) is mounted on the annular flip plate (21). At the same time, the second flipping drive device (32) drives the inner pedal (31) to flip inside and outside and left and right on the annular flip plate (21).

3. The ankle joint rehabilitation medical robot according to claim 1, characterized in that: The annular flap (21) and the inner pedal (31) are both rotatably mounted on the rotating seat (24) via the rotating shaft (23).

4. The ankle joint rehabilitation medical robot according to claim 3, characterized in that: The end of the rotating shaft (23) is vertically installed with a limiting post (25), and a limiting groove (26) is opened on the rotating seat (24). The limiting post (25) is slidably disposed in the limiting groove (26).

5. The ankle joint rehabilitation medical robot according to claim 1, characterized in that: The support (1) is equipped with a lower leg fixing bracket (4).

6. The ankle joint rehabilitation medical robot according to claim 1, characterized in that: The support (1) is provided with a pulley (5) at its bottom.

7. The ankle joint rehabilitation medical robot according to claim 3, characterized in that: The first flipping drive device (22) includes a drive motor (221), a drive pulley (222), a driven pulley (223), and a transmission belt. The drive motor (221) is fixedly installed on the support (1). The output end of the drive motor (221) is equipped with a drive pulley (222). The driven pulley (223) is installed on a rotating shaft (23) connected to the annular flip plate (21). The drive pulley (222) and the driven pulley (223) are connected by a transmission belt.

8. The ankle joint rehabilitation medical robot according to claim 7, characterized in that: The second flipping drive device (32) includes a flipping motor (321) and a transmission mechanism (322). The flipping motor (321) is fixedly installed on the annular flip plate (21). The flipping motor (321) is connected to the rotating shaft (23) connected to the inner pedal (31) through the transmission mechanism (322).

9. The ankle joint rehabilitation medical robot according to claim 8, characterized in that: Angle sensors are respectively installed on the inward and outward folding device (2) and the forward and backward unfolding device (3).

10. The ankle joint rehabilitation medical robot according to claim 9, characterized in that: It also includes a computer control and acquisition system, which acquires angle information measured by the angle sensor and drives and controls the flip motor (321) and the drive motor (221).

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