Treatment and rehabilitation device for degenerative knee joint disease based on KOAPT therapy

Abstract

The present invention proposes a treatment and rehabilitation device for knee joint degenerative disease based on KOAPT therapy, which includes an accuracy / comfort related data collection unit, a momentum collection unit, a motion support unit, a control unit, and a feedback unit. The accuracy / comfort related data collection unit is used for collecting accuracy / comfort related data of a user in a use state, the momentum collection unit is used for collecting motion data of a user in a use state, the motion support unit is used for providing trunk support, and / or lumbar support, and / or elbow support to the user, the control unit is used for executing a KOAPT computer program arranged in the control device and outputting a control command, and the feedback unit is used for transmitting audio and / or video and / or tactile signals to the user according to the control command. The present invention allows the user to standardize the execution of exercise posture based on KOAPT therapy, helps the patient overcome physical pain and psychological noncompliance, fundamentally eliminates the pain of KOA in the patient, and brings hope to the knee joint degenerative disease patients around the world.

Description

[Technical field]

[0001] The present invention belongs to the field of clinical medical equipment technology and home rehabilitation exercise, and particularly relates to a treatment and rehabilitation device for knee joint degenerative disease based on KOAPT therapy. [Background technology]

[0002] The world has entered an aging society, the proportion of the elderly population is increasing year by year, and knee joint degenerative disease has become one of the major disabling diseases in the world, seriously affecting the quality of life of the elderly. As of the end of 2018, statistics showed that the proportion of people aged 65 or older in China who suffer from knee joint pain reached more than 60%, and the number of patients with osteoarthritis of the knee reached more than 100 million, making China one of the countries with the largest number of patients with osteoarthritis of the knee.

[0003] The knee joint is the most complex joint in the human body that supports the weight of the legs, and is also one of the joints most susceptible to disease and injury. Knee joint diseases are usually caused by abnormal and unstable biological lines of force in the lower limbs, disuse atrophy of the lower limbs, incorrect long-term working life postures (sitting or squatting for long periods of time, etc.), long-term coldness of the lower limbs, insufficient blood supply, intra-articular infection, primary cancer lesions and metastatic secondary cancer lesions of the tissues inside the joint cavity, endocrine disorder osteoporosis, exogenous high-energy trauma, etc., which are a series of various histopathological and physiological morphological changes in the joint cavity, such as arthritis, osteoarthritis, synovitis, patellar softening, meniscus damage, subchondral bone sclerosis, uneven osteoporosis, and cystic hollowness. Knee osteoarthritis, also known as proliferative knee arthritis and senile knee arthritis (commonly called old cold leg), is the most common chronic functional and morphological degenerative joint disease. The earliest and most predominant pathological changes are in the cartilage, followed by subchondral bone cystic disease, osteophyte formation at the joint margins, and finally complete destruction and deformation of the normal joint surface, resulting in increased pain, limited movement, and ultimately disability.

[0004] With the advent of an aging society in our country, both the incidence rate of KOA and the absolute number of patients show a tendency to increase significantly. KOA patients endure great physiological pain--patients will have obvious pain and weakness in the knees when going up and down stairs, and walking for a long time will make the body feel tight and uncomfortable, and severe patients can't even stand alone and have to rely on supports; meanwhile, long-term patients will not only be seriously affected by the quality of life, but will also inevitably suffer psychological trauma.

[0005] Modern clinical medicine has proposed different treatment plans for KOA patients at different stages of the KL (Kellgren-Lawrence) classification. Regarding drug treatment, local analgesic drugs and systemic analgesic drugs currently widely used in clinical practice have limitations, and cannot fundamentally solve the pathological and physiological lesions of KOA from the etiology, nor can they prevent the further deterioration of KOA. They can only temporarily relieve pain within a very limited period of time, and cannot solve organic lesions such as muscle weakness, muscle atrophy, and meniscus cyst, meniscus rupture, cartilage rupture, anterior and posterior cruciate ligament rupture, and abnormal and unstable biological force lines of the lower limbs. In addition, long-term use may cause a series of side effects. Total knee arthroplasty (TKA, UKA) is another major treatment method applied when the KOA clinical KL classification reaches grade 4, but this type of surgery belongs to destructive reconstruction surgery, which causes great damage and has low patient acceptance. In addition, after knee replacement surgery, the muscle strength around the knee joint and the sensitivity of the proprioceptors of the lower limbs of the patient cannot meet the demands of normal life movement, especially the entire proprioceptor system of the lower limbs is destroyed, which will cause endless falls in the future of normal life. The therapeutic effects of other treatment methods such as dieting, wearing an exoskeleton, intra-articular injection of sodium hyaluronate, autologous platelet-rich plasma (PRP) injection, intra-articular injection of ozone, etc. are limited to short-term control of local symptoms and slightly slowing down the rate of functional decline, and from the long-term and whole-body perspective, they have very large limitations, and cannot fundamentally solve the pain of the knee joint, provide sufficient muscle support around the knee joint, restore good proprioception of the patient's autonomous movement, or achieve high-efficiency treatment that is pain-free and does not destroy the whole body anytime and anywhere.

[0006] The Chinese Clinical Practice Manual for Pain Management of Osteoarthritis (Chinese Journal of Osteopathy, 2020) lists exercise therapy as the 1A (highest recommendation level) choice for KOA treatment. The Chinese Western Han Dynasty book, Yin Shu, suggests the following prescription for knee pain guidance: "For knee pain guidance, if the right knee hurts, hold the left hand and swing the right foot inward 1000 times; if the left knee hurts, hold the right hand and swing the left foot 1000 times. Hook the toes of the left foot with the left hand and pull it back 10 times. Next, hold the left hand, hook the toes of the right foot with the right hand and pull it back 10 times." The patient is made to swing their legs, which promotes blood circulation in the legs through the contraction and expansion of the leg muscles, and the leg swinging exercise generates heat to relieve the symptoms of cold and pain in the lower legs. The principle of its effect is to "improve blood flow, relieve congestion, warm the meridians and expel the evil spirits of cold." Knee pain guidance method is an effective classical treatment for the treatment of knee joint degenerative disease, and leg swinging can effectively treat knee joint pain, but in modern actual clinical application, most patients with KOA disease are fundamentally unlucky, and the causes are as follows:

[0007] 1. Mentally: Because the exercises are monotonous, patients are mentally frustrated and cannot consistently follow the exercises prescribed by the knee pain instruction method.

[0008] 2. Physically: Each day, the patient supports one leg and swings the other leg more than 1,000 times on each side. This causes physiological pain and refusal in the early stages of treatment, leading to the formation of habitual tolerance and making it difficult to follow the doctor's instructions and prescriptions, which may lead to the discontinuation or failure of treatment with the knee pain instruction method.

[0009] 3. From the perspective of the principles of modern evidence-based medicine: Although the clinical therapeutic effect of the knee pain guidance method has been recognized by patients for 2,000 years, its scientific principles are unclear and its performance standards are not clear, so the knee pain guidance method cannot be fully accepted as a standard means for diagnosing and treating KOA by modern clinical physicians.

[0010] At present, there are no treatment methods and products in the world that fundamentally solve the pain of KOA from the perspective of systemic cost performance, pathological and physiological basis, and comprehensively surpass the knee pain instruction method. The researcher of the present invention has been devoted to the research of KOA diagnosis and treatment methods for many years, and has proposed the KKOA stage therapy (Kill Knee Osteoarthritis, KKOA) based on the KL classification and the modern standard leg swing therapy (Knee Osteoarthritis Pendulum Therapy, KOAPT) of KOAPT for specific disease stages. The universal and specific relationship between KOAPT and the knee pain instruction method is as follows: both KOAPT and the knee pain instruction method are to achieve the purpose of KOA treatment by swinging the leg, but compared with the rough description of the treatment method of the knee pain instruction method, KOAPT is a more accurate and standardized continuous rehabilitation treatment method for how to treat KOA by swinging the leg, especially from the pain symptoms of KOA patients and the myasthenic symptoms around the knee joint to address the pathological basis of KOA. KOAPT reduces pressure within the knee joint cavity, and promotes improved blood circulation within the knee joint cavity, synovial fluid circulation, and metabolism of related tissues inside and outside the joint cavity. It also trains the anterior and posterior flexor and extensor muscles of the legs simultaneously without any contradiction and efficiently, greatly improving the sensitivity of the proprioceptors in the lower limbs.

[0011] To date, the inventors of the present invention are the first to make this scientific discovery, which is being published for the first time in the British medical journal Trails.

[0012] Therefore, there is a strong need for a device for treating and rehabilitating knee joint degenerative diseases that can realize the KOAPT treatment method. Summary of the Invention [Problem to be solved by the invention]

[0013] In response to the deficiencies of the prior art, the present invention proposes a treatment and rehabilitation device for knee joint degenerative disease based on KOAPT therapy, which standardizes the leg swing exercise according to the standard movements of KOAPT and encourages users to perform this exercise, helping KOA patients overcome physiological and psychological pain and non-compliance during treatment, and fundamentally relieves the patient's KOA pain through continuous, standardized and long-term repeated KOAPT exercise, bringing hope to knee joint degenerative disease patients around the world. [Means for solving the problem]

[0014] In order to achieve the above objectives, the knee joint degenerative disease treatment and rehabilitation device designed in the present invention has the following characteristics, including an accuracy and comfort related data collection unit, a movement amount collection unit, a movement support unit, a control unit and a feedback unit: The motion support unit is used to provide a user with trunk support, and / or lumbar support, and / or elbow support; The accuracy / comfort related data collection unit is attached to the motion support unit and is used to collect accuracy / comfort related data of the user in a usage state, and the accuracy / comfort related data is accurate and comfortable body shape data in a motion state required for KOAPT therapy, and the accuracy / comfort related data includes a comfortable support height, a load reduction amount of the support leg, a trunk upright state value, and a leg upright state value; The exercise amount collecting unit is attached to the exercise support unit and is used for collecting the user's leg swing exercise amount data in real time in a use state, and the exercise amount data includes the number of leg swing exercises, the exercise frequency, and the exercise magnitude; The control unit executes the KOAPT computer program arranged in the control device, and collects the user's accuracy-comfort related data in real time under the use state, and judges in real time whether the user's comfortable support height during exercise, the load reduction amount of the support leg, the trunk upright state value, and the leg upright state value are consistent with the user's accuracy-comfort related default value, and when the user's accuracy-comfort related value is unsatisfactory, outputs a feedback command to control the feedback unit to output corresponding feedback information, so as to guide the user to correct the exercise posture, and collects the user's exercise amount data in real time, and guides the user to complete the treatment and rehabilitation training according to the stage classification treatment model; The feedback unit is used for sending audio and / or video and / or haptic signals to the user based on the control command.

[0015] Further, the KOAPT computer program includes a stage classification treatment model storage module, an accuracy and comfort relationship analysis module, a treatment process control module, a treatment tracking module, a feedback information storage module, and a user information storage module; The stage classification treatment model storage module is used for storing a stage classification treatment model; The accuracy-comfort relationship analysis module is used for inputting the accuracy-comfort relationship data collected in real time into an accuracy-comfort relationship analysis model, judging the user's body shape data in real time, outputting an accuracy-comfort relationship judgment command, and simultaneously outputting a fail flag bit when the user's accuracy-comfort relationship is fail; The treatment process control module is used for calling a corresponding feedback command in the feedback information storage module according to the accuracy comfort relationship judgment command, matching the number of exercises, the frequency of exercises and the magnitude of exercises collected by the exercise amount collection unit with the corresponding values ​​of the classification treatment model, and calling a corresponding feedback command in the feedback information storage module according to the matching result; The treatment tracking module is used for monitoring the user's progress in completing the treatment course and calling up the corresponding feedback instruction in the feedback information storage module; The feedback information storage module includes: feedback information of count reaching a standard, feedback information of accuracy-comfort relationship reaching a standard, encouragement feedback information, separation warning information, and media information; The user information storage module is used for storing the user's personal information, accuracy and comfort related data, and exercise amount data.

[0016] Furthermore, the accuracy-comfort relationship analysis model is y=k1+k2+k3+k4+k5, in which y is the flag value of the user's accuracy-comfort relationship, k1 is the body upright flag bit, k2 is the leg bending flag bit, k3 is the support leg load reduction amount flag bit, k4 is the comfort flag bit, and k5 is the redundancy flag bit. When y=0, the user's accuracy-comfort relationship is pass, and when y=1, the user's accuracy-comfort relationship is fail.

[0017] Furthermore, the calculation method of the comfort flag bit is k4=round(αQ+βS+γT+δN), in which Q is the comfortable support height / height ratio on both sides, S is the load reduction / body weight ratio of the supporting leg when supported on both sides, T is the comfortable support height / height ratio of the chest, N is the load reduction / body weight ratio of the supporting leg when supported on the chest, α, β, γ, and δ are model parameters obtained by parameter calibration and preset according to the user's body shape data, and round() represents rounding off.

[0018] Furthermore, the stage classification treatment model is an X1 class treatment model, an X2 class treatment model, and an X3 class treatment model, and in each stage classification treatment model, the duration of the stage, the number of times V of single leg support, the magnitude of movement θ, the frequency of movement ω, the leg assist force F, the amount of movement C, the time t that the supporting leg must rest, and the range of the load reduction amount Δa of the supporting leg are set.

[0019] In one embodiment of the present invention, the exercise support unit includes a foldable leg rocking device and a multi-function support frame, the foldable leg rocking device is used to support the user's trunk, and the multi-function support frame is used to support the user's elbow, and both are fixedly engaged.

[0020] Optionally, the folding leg swing device includes a housing, a pedal, a folding and extending frame, a motor, a swing angle frame, and a lower leg length adjustment frame; The housing is a bottom support, two pedals are attached to the housing, two folding telescopic frames are vertically installed above the housing and fixed by a housing connecting rod, the upper ends of the two swinging angle frames are hung on the folding telescopic frames respectively and swing back and forth relative to the folding telescopic frames, the lower ends of the two swinging angle frames are inserted into the lower leg length adjustment frame and fixed together, the motor is installed at the upper end of the swinging angle frame to drive the swinging angle frame and the lower leg length adjustment frame to make a pendulum movement around the end, The control unit is configured to control the motor in accordance with a setting of a stage classification treatment model to rotate the oscillating angle frame.

[0021] Optionally, the multi-function support frame includes a support base, two support rods, and two elbow / arm support brackets, the support base is located at the bottom, two support rods are symmetrically arranged on the top, the support rods are connected to a support adjustment rod by a cam pressure handle, a reinforcing web plate is provided below the support adjustment rod, and the elbow / arm support brackets are horizontally installed on the top end of the support adjustment rod.

[0022] Optionally, the lower leg length adjustment frame includes a U-shaped pipe frame, a guide rod, and a first slider, and the lower leg length adjustment frame is inserted and connected to two oscillating angle frames via pipe bodies on both sides of the U-shaped pipe frame, respectively, and the foot support plate attached to the first slider slides on the U-shaped pipe frame along the length direction of the guide rod to adjust its relative position with the U-shaped pipe frame to accommodate the leg lengths of users of different heights.

[0023] Preferably, the treatment and rehabilitation device further includes a terminal support frame for supporting a display screen and adjusting the height and angle thereof.

[0024] In one alternative embodiment, an inverted folding sheet is installed on the top end of each of the two folding and extending frames, and the two inverted folding sheets are connected via a gear box and a shaft coupling.

[0025] In another alternative embodiment, the top end of the folding-telescopic frame is provided with an inverted folding seat that is rotatably hinged to the top end of the folding-telescopic frame.

[0026] Optionally, the accuracy / comfort related data collection unit includes a first sensor group, a second sensor group, and a third sensor group, and is used to collect accuracy / comfort related data of the user in a usage state, and the movement amount collection unit includes a fourth sensor group, and is used to collect movement amount data of the user in a usage state.

[0027] Optionally, the first sensor group is a photoelectric sensor respectively installed in front and behind the pedal on the motion support unit, and the receiving ends of the photoelectric sensors are respectively installed vertically above the two transmitting ends, and when the user performs leg swinging motion, if the receiving end receives a photoelectric signal, the signal is not blocked by the user and outputs a trunk upright state value of 0 (k1=0), and if the receiving end does not receive a photoelectric signal, the signal is blocked by the user and outputs a trunk upright state value of 1 (k1=1).

[0028] Optionally, the second sensor group includes a displacement sensor installed at a location on the lower leg length adjustment frame corresponding to the rear of the user's knee, and the displacement sensor collects in real time the fit between the user's leg and the lower leg length adjustment frame, and outputs a leg upright state value of 0 (k2=0) if the fit is good, and outputs a leg upright state value of 1 (k2=1) if the fit is not good.

[0029] Optionally, the third sensor group includes a weight sensor installed under the pedal of the exercise support unit, and is used to collect the user's weight data in real time; the method for calculating the flag bit of the load reduction amount of the supporting leg is to determine whether the ratio S of the load reduction amount of the supporting leg / body weight when supported on both sides, or the ratio N of the load reduction amount of the supporting leg / body weight when supported on the chest, is within the range of the load reduction amount of the supporting leg Δa in the classification treatment model, and if so, output k3=0, and if not, output k3=1.

[0030] Optionally, the fourth sensor group includes a distance sensor installed on the front of the multi-function support frame and a photoelectric sensor installed on the side of the housing, and a method for collecting the magnitude of motion in the motion quantity data is to install a distance sensor on the upper surface of the bottom support of the motion support unit, and the magnitude of motion is θ=arctan(D / (HL)), where H is the distance from the support point of the user's foot to the upper surface of the bottom support, L is the distance between the distance sensor and the obstructed object, and D is the projection distance from the distance sensor to the support point of the user's foot.

[0031] Optionally, when the control unit determines that the comfort flag bit is 1, the control feedback unit sends audio and / or video and / or tactile signals to the user to guide the user to adjust the height of the lumbar support and / or elbow support, or controls the lumbar support and / or elbow support to automatically adjust their height until the comfort flag bit is 0.

[0032] Optionally, the accuracy-comfort-related data collecting unit and the momentum collecting unit are realized by an ultrasonic sensor, a displacement sensor, a gravity sensor, a photoelectric sensor, a radar and / or a camera.

[0033] KOA (Knee Osteoarthritis) disease is classified by KL (Kellgren-Lawrence, KL) grading method in imaging examination to distinguish the severity of the disease of KOA patients, and also to determine different treatment plans that can be applied to different KOA patients based on the KL classification. Regarding the KL classification, Grade 1, 0: The joint is completely normal. 2, Grade I: There is slight bone proliferation in the joint, but the joint space is not obviously narrowed. 3. Grade II: The joint space is narrowed and bone proliferation has occurred. 4. Grade III: Moderate bone proliferation, with obvious narrowing of the joint space, sclerosis of the subchondral bone, or joint deformity such as varus or valgus. 5, grade IV: A large number of osteophytes are observed, and at the same time, the joint space is severely narrowed, bone sclerosis is obviously present, and joint deformation is very obvious.

[0034] The general physiological conditions of KOA patients include being overweight, having atrophied and weak flexor and extensor muscles around the knee joint (e.g., quadriceps, hamstrings, etc.), and being mostly over 45 years old.

[0035] Common symptoms of KOA patients include knee joint pain during exercise, unsteadiness when walking on level ground, weakness when going up and down stairs, and compensatory body deformation.

[0036] Pathological changes in the knee joint of patients with KOA include wear, deterioration, deformation or rupture defects of the knee joint cartilage, narrowing of the knee joint space, irregularities or osteophytes of the subchondral bone, proliferation of bone cysts, increased synovial factors in the joint cavity, fragments of cartilage and subchondral bone, and even fragments of articular debris that fall off and accumulate in the joint cavity.

[0037] The present invention has been developed based on various internal and external conditions and their specific physiological and pathological causes of each of the above disease progression stages of KOA patients, and further, according to the present invention, the KOA patient is guided, supervised, and timely adjusted to perform scientific and accurate KOAPT exercises. At the same time, the KOAPT exercise treatment method guided by the KOAPT device forms a necessary, stepwise, combinable whole system treatment plan, i.e., a KKOA (Kill Knee Osteoarthritis, KKOA) treatment plan, together with other KOA specific treatment methods (e.g., arthroscopic cleaning, sorting, and repair, lower limb alignment correction surgery, lower limb muscle rehabilitation training after UKA and TKA surgery, etc.) in each specific disease progression development stage of the KOA patient.

[0038] Regarding the invention of the KOAPT device, over the past three years, based on the roughly defined movements of the "Knee Pain Training Method," and carefully examining pathology, physiology, and rehabilitation kinesiology, we have discovered the following from clinical research on a large number of KOA patients and animal experiments.

[0039] 1. During KOAPT exercise, the pressure in the knee joint cavity is reduced, followed by the acceleration of blood circulation in the relevant tissues in the knee joint cavity, followed by the efficiency of removing inflammatory pain factors in the joint cavity and the strengthening of tissue repair ability, which gradually relaxes the tendons and ligaments related to the internal and external contracture of the knee joint, enlarging the joint space, reducing the pressure on the subchondral bone, and the subchondral bone has rich peripheral nerves - the pain caused by KOA is greatly reduced.

[0040] 2. KOAPT exercises can gradually, reliably and effectively improve the strength of the associated flexor and extensor muscles to maintain normal movement around the knee joint while maximally reducing pain in KOA patients, until they reach the strength required for normal life. 3. Swinging the legs more than 1000 times each for more than a year every day has a positive effect on reducing the weight burden. Weight gain and lack of accurate lower limb muscle movement are the main causes of the development and progression of KOA. As the weight increases, the pain in the knee joint increases, and the knee joint movement becomes less spontaneous and is avoided... This vicious cycle is repeated, while KOAPT exercise under the guidance and supervision of the KOAPT equipment is a powerful way to break this vicious cycle.

[0041] Based on modern evidence-based medical theory and the observation of clinical practice over the past 5 years, we have found that if knee pain instruction methods do not scientifically specify the time limit for continuous support of the supporting leg, long-term support on one leg will cause ischemic and compressive diseases of the subchondral bone of the supporting leg, and further accelerate pain and functional decline in the supporting leg. If there is no scientific verification or limitation of the maximum to minimum range for the swing size and frequency of leg swing exercise, the body's line of gravity, the pitching angle of the head and neck, the height of the fulcrums of both arms, the physical strength of the patient, height, weight, age, and other individual differences during the entire swing process will not be organically unified with the actual individualized diagnosis and treatment of the patient based on the common principle of "mutual benefit and no contradiction when performed simultaneously." Effect of the Invention

[0042] Compared with the prior art, the present invention has the following beneficial technical effects:

[0043] (1) If a KOA patient does not train using the knee pain instruction method continuously for two weeks, the pressure in the joint cavity will increase, and then the blood circulation in the joint tissue and the synovial fluid circulation in the joint cavity will decrease, resulting in a decrease in synovial fluid and the reappearance of pain. The present invention allows the user to continuously train using the KOAPT training.

[0044] (2) The present invention achieves the purpose of standardizing the user's accurate and comfortable exercise posture and proactively helping patients overcome physical pain and psychological non-compliance during exercise by realizing supervision, correction, feedback and notification of KOAPT exercise posture through the accuracy and comfort relationship system.

[0045] (3) The present invention designs feedback information from multiple angles, solving the problem of patients being mentally frustrated by monotonous exercise, allowing patients to stay calm and concentrate on the training with the knee pain instruction method, and free both hands to perform office work and external communication at the same time.

[0046] (4) The present invention has different types of external structures and is applicable to various environments such as medical institutions, home life, travel and business trips. The overall structure is small and stable, making it convenient for patients to use for a long period of time. [Brief description of the drawings]

[0047] [Figure 1] FIG. 1 is a block diagram of the system structure of a treatment and rehabilitation device for knee joint degenerative disease based on KOAPT therapy according to the present invention. [Diagram 2] This is a system structure diagram of the KOAPT computer program. [Diagram 3-4] 13 is a flowchart showing the operation of the control module during treatment. [Diagram 5] FIG. 2 is a right side view of the entire device in an operating state. [Figure 6] FIG. 2 is a schematic diagram of the assembly structure of the multi-function support frame. [Figure 7] FIG. 2 is a schematic diagram of the distribution of members of a multi-function support frame. [Figure 8] FIG. 13 is a left side view of the folding leg swing device when part of the device is in operation. [Figure 9] FIG. 13 is a schematic diagram of the assembly structure of the lower leg length adjustment frame. [Figure 10] FIG. 2 is a schematic diagram showing the assembly principle of the folding leg swing device. [Figure 11] FIG. 2 is a schematic diagram showing the principle structure of a dual-drive folding leg swing device; [Figure 12] 1 is a schematic diagram of the folding and extending principle of the folding leg swing device and the multi-function support adjustment device; [Figure 13] FIG. 2 is a schematic diagram of the folding leg swing device in a folded state. [Figure 14] FIG. 2 is a schematic diagram of the principle structure of a double-drive folding leg rocking device equipped with an inverted folding seat; [Figure 15] FIG. 2 is a schematic diagram showing the principle structure of a folding leg swing device equipped with an inverted folding seat; [Figure 16] FIG. 13 is a left side view showing the mounting direction of the photoelectric sensor. [Figure 17] FIG. 13 is a top view of the mounting direction of the photoelectric sensor. [Figure 18] FIG. 2 is a schematic diagram of the mounting direction of a TOF sensor. [Figure 19] FIG. 2 is a schematic diagram showing the mounting direction of the camera. [Figure 20] 3A and 3B are schematic diagrams of the mounting direction of a distance sensor and the principle of angle calculation. [Figure 21] FIG. 2 is a schematic diagram of the operation principle of the multi-function support adjustment device; [Figure 22] FIG. 2 is a structural schematic diagram of a terminal support frame. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0048] The present invention will now be described in more detail with reference to the drawings and specific examples.

[0049] The treatment and rehabilitation device for knee joint degenerative disease based on KOAPT therapy according to the present invention includes an accuracy and comfort related data collection unit, a motion amount collection unit, a motion support unit, a control unit, and a feedback unit, as shown in FIG.

[0050] The motion support unit is used to provide the user with trunk support, and / or lumbar support, and / or elbow support. Different types of external structures of the motion support unit are designed according to different user objects and application scenes, and although a foldable unit structure is proposed in the embodiment of the present invention, other embodiments of the support unit are not limited thereto, and any device that can provide the user with trunk support, and / or lumbar support, and / or elbow support when the system is working belongs to the motion support unit described in the present invention.

[0051] The accuracy and comfort related data collection unit is attached to the exercise support unit and is used to collect accuracy and comfort related data of the user in a state of use, and the accuracy and comfort related data is data on the body shape in a state of accurate and comfortable exercise required for KOAPT therapy, and the accuracy and comfort related data includes the user's height, the distance between the elbow support point and the foot support point, the height when supported on both sides, the height when supported on the chest, the user's weight, the weight when supported on both sides, the weight when supported on the chest, the upright state of the trunk, and the upright state of the legs, etc.

[0052] The movement amount collecting unit is attached to the movement supporting unit and is used for collecting the user's leg swing movement amount data in real time in the use state, and the movement amount data includes the number of leg swing movements, the movement frequency and the movement magnitude.

[0053] The control unit executes the KOAPT computer program arranged in the control device, collects the user's accuracy-comfort related data in real time under the use state, judges in real time whether the user's comfortable support height during exercise, the load reduction amount of the support leg, the trunk upright state value, and the leg upright state value meet the user's accuracy-comfort related default value, and outputs a feedback command to control the feedback unit to output the corresponding feedback information when the user's accuracy-comfort related value is unacceptable, and is used for guiding the user to correct the exercise posture, collecting the user's exercise amount data in real time, and guiding the user to complete the treatment and rehabilitation training according to the stage classification treatment model. The control unit includes a control device, a communication module, a power module, etc., and the communication module can use a transmission method such as Wifi, wireless Bluetooth (registered trademark). The control device is installed in the motion support unit and can interact with the user through a man-machine interactive display screen, and can also be installed remotely in a server and communicate with the user through a mobile device, or the server directly transmits a control command to the feedback unit installed in the motion support unit.

[0054] The feedback unit is used to send audio and / or video and / or tactile signals to the user according to the control command. The feedback unit may be a display screen, a speaker, a massage head, a motor, etc. attached to the motion support unit, and sends image information, audio information, performs massage vibration, or drives the motion of the support unit according to the control command. The feedback unit may be integrated into a mobile device, and the mobile device sends image information, audio information, etc. according to the control command.

[0055] The structural block diagram of the computer program of KOAPT is shown in FIG. 2, which includes a classification model storage module, an accuracy and comfort relationship analysis module, a treatment process control module, a treatment tracking module, a feedback information storage module, and a user information storage module.

[0056] The stage classification model storage module is used for storing the stage classification treatment model. The accuracy-comfort relationship analysis module is used for inputting the accuracy-comfort relationship data collected in real time into the accuracy-comfort relationship analysis model, judging the body shape information in real time, outputting an accuracy-comfort relationship judgment command, and simultaneously outputting a fail flag bit when the user's accuracy-comfort relationship is unacceptable. The treatment process control module is used for calling a corresponding feedback command in the feedback information storage module according to the accuracy-comfort relationship judgment command, matching the number of exercises, the frequency of exercise, and the magnitude of exercise collected by the exercise amount collection unit with the corresponding values ​​of the stage classification treatment model, and calling a corresponding feedback command in the feedback information storage module according to the matching result. The treatment tracking module is used for monitoring the completion progress of the user's treatment process, and calling a corresponding feedback command in the feedback information storage module. The feedback information storage module includes feedback information that the count reaches the standard, feedback information that the accuracy-comfort relationship reaches the standard, encouragement feedback information, separation warning information, and media information. The user information storage module is used for storing the user's personal information, accuracy-comfort relationship data, and exercise amount data.

[0057] The stage classification treatment model includes a treatment model of X1 class, a treatment model of X2 class, and a treatment model of X3 class, and in each treatment model, the length of time of the stage, the number of times of single leg support V, the magnitude of movement θ, the exercise frequency ω, the leg auxiliary force F, the amount of movement C, the time that the supporting leg must rest t, and the range of the load reduction amount Δa of the supporting leg are set. The parameters of the stage classification treatment model are shown in Table 1. For example, the treatment model of X1 class is applied to obese people with a BMI of more than 28, people who do not want to exercise voluntarily, people with moderate to severe knee joint pain, and people with a KL classification of 3 or higher, and within 0 to 8 weeks, an external force is applied to the swing leg, the number of times of single leg support V is 50 times, the magnitude of movement θ is -30° to +30°, the exercise frequency ω is 30 times / min, the driving motor of the support unit provides the leg auxiliary force F, the amount of movement C is 500 times, the time that the supporting leg must rest is 1 min or more, and the load reduction amount Δa of the supporting leg is ≧20%. The load reduction amount Δa of the supporting leg is based on the weight of the user.

[0058] The stage classification treatment model can match the corresponding treatment model according to the personal information entered by the user or the exercise prescription by the doctor. Table 1 shows the clinical corresponding indexes of each item of the stage classification treatment model set according to clinical needs.

[0059] Table 1 JPEG0007624558000001.jpg141170JPEG0007624558000002.jpg134170

[0060] A typical KOA patient can complete the KOAPT exercise smoothly in the absolute value range of the swing angle of 60° (±30°) or more. Based on this, in the case of patients with muscle atrophy, muscle weakness, and weight obesity, clinical trials have determined that if the KOAPT exercise angle range is less than 60° (±30°), the efficiency of improving the flexion and extension muscle strength of the knee joint is too low, and the pressure drop in the joint cavity is also very small - according to experiments, the average water column is generally less than 5mm, and such a small pressure drop does little to promote the increase in blood circulation of each tissue in the joint cavity, and the loosening efficiency of each contracted connective tissue (such as the anterior and posterior cruciate ligament, the medial and lateral collateral ligament, the patellar tendon, etc.) is also very low.

[0061] On the other hand, when the absolute range of the swing angle of the KOAPT exercise is 60° (±30°) or more, the average pressure drop in the knee joint cavity is 15mm water column or more. Thus, when the absolute range of the exercise angle is 60° (±30°) or more, it is clear that KOAPT has a significant significance in relieving pain in the KOA knee joint, repairing it, and increasing the strength of the related muscles.

[0062] During the swinging process, the load on the supporting leg is reduced by more than 20% (this is also one of the key points of this invention)--The pressure in the knee joint cavity of the supporting leg of KOA patients is directly reduced by the reduction of body weight, and its clinical significance has been effectively verified by big data statistics of the therapeutic effects of traditional KOA exercise therapy, such as swimming, supine kicking, traction for knee pain, etc., and KOAPT is the simplest, most comfortable, highly efficient and sustainable method of all these KOA exercise therapy.

[0063] The pressure in the knee joint cavity increases with the increase in body weight, which leads to serious degenerative diseases of the knee joint cartilage and subchondral bone. It was measured that the pressure value received by the joint of the supporting leg during KOAPT exercise reached four times that of the normal state--The number of continuous swings in one session of KOAPT exercise should be gradually limited according to the KL classification of KOA, the patient's real-time on-site body weight and muscle strength status. For example, during the first phase of KOAPT, when one leg was continuously swung 50 times at a time from 0 to 8 weeks, no unpleasant symptoms appeared in the supporting leg. On the contrary, during the first phase of KOAPT, when one leg was continuously swung more than 100 times at a time from 0 to 8 weeks, dull pain appeared in the knee joint of the supporting leg, and symptoms of intermittent claudication appeared in daily life.

[0064] For KOAPT to actually achieve its treatment goals, it must be operated carefully and practically in combination with the social and humanitarian environment in which it is implemented from the professional perspective of osteopathic medicine. Under this premise, we have compiled a list of the specific exercise movements and exercise quantities of KOAPT in the above sections.

[0065] The accuracy-comfort relationship analysis module is used for inputting the accuracy-comfort relationship data collected in real time into the accuracy-comfort relationship analysis model, judging the user's posture information in real time, and outputting an accuracy-comfort relationship judgment command. For the accuracy-comfort relationship adjustment, the user stands on the rehabilitation device and inputs the user's personal information (gender, age, height, weight, face information data, KL classification, pain index, doctor's exercise prescription, user's designated supervisor's contact information, etc.), the control system introduces the corresponding stage classification treatment model, measures (or inputs) the user's height and weight, the control system calculates the elbow height, upper leg and lower leg lengths based on the height and weight, the system automatically adjusts the elbow support height, upper leg and lower leg support lengths, the user confirms it or fine-tunes it until satisfied, and then stores it.

[0066] The accuracy-comfort relationship analysis model is y=k1+k2+k3+k4+k5, in which y is the flag value of the user's accuracy-comfort relationship, k1 is the body upright flag bit, k2 is the leg bending flag bit, k3 is the support leg load reduction amount flag bit, k4 is the comfort flag bit, and k5 is the redundancy flag bit. When y=0, the user's accuracy-comfort relationship is pass, and when y=1, the user's accuracy-comfort relationship is fail.

[0067] The calculation method of the body upright flag bit k1 is that k1=0 when the trunk upright state value collected by the momentum collecting unit is 0, and k1=1 when the trunk upright state value is 1. The calculation method of the leg upright flag bit k2 is that k2=0 when the leg upright state value collected by the accuracy comfort related data collecting unit is 0, and k2=1 when the leg upright state value is 1. The calculation method of the supporting leg load reduction amount flag bit k3 is to determine whether the supporting leg load reduction amount / body weight ratio S when supporting on both sides, or the supporting leg load reduction amount / body weight ratio N when supporting on the chest, is within the range of the supporting leg load reduction amount Δa in the stage classification treatment model, and output k3=0 if it is, and output k3=1 if it is not. The calculation method of the comfort flag bit is k4=round(αQ+βS+γT+δN), where Q is the comfortable support height / height ratio on both sides, S is the load reduction / body weight ratio of the supporting leg when supported on both sides, T is the comfortable support height / height ratio of the chest, N is the load reduction / body weight ratio of the supporting leg when supported on the chest, α, β, γ, δ are model parameters, which are preset according to the user's body shape data, and round() represents rounding. The redundant flag bit k5 is a reserved flag bit, and its default value is 0.

[0068] The ratio S of the load reduction of the supporting leg to the body weight when supported on both sides refers to the ratio of the weight reduction amount collected by the user supporting the arm on the elbow support from the side to the body weight. The ratio N of the load reduction of the supporting leg to the body weight when supported on the chest refers to the ratio of the weight reduction amount collected by the user supporting the arm on the elbow support on the chest to the body weight. Different treatment models have different requirements for the load reduction amount Δa of the supporting leg, and the values ​​of S and N can be made to meet the corresponding range of Δa by adjusting the height of the elbow support or the support posture of the user, and the collection of the body weight is realized by the gravity sensor installed in the trunk support unit.

[0069] The bilateral comfortable support height / height ratio Q refers to the ratio of the elbow support to the user's height when the user supports the arms on the elbow support from both sides, and the thoracic comfortable support height / height ratio T refers to the ratio of the elbow support to the user's height when the user supports the arms on the chest, and the user's height may be obtained by input or collected by a sensor. The height of the elbow support may be adjusted manually by the user or automatically by being driven by a motor.

[0070] The comfort flag bit can be calculated based on the personal information input by the user or the inertial parameters of the adult human body, where the ratio of the height of the elbow support point to the height of the shoulder is 0.79-0.91, the ratio of the height of the elbow support point to the height is 0.65-0.75, the comfortable sagittal distance between the footrest point and the elbow support point is 29-45 cm, concentrated at about 35 cm, the ratio of the sagittal distance between the footrest point and the elbow support point to the length of the upper arm is between 0.9-1.4, and in most cases is 1.1-1.3. The value of the ratio Q of the comfortable support height of both sides to the height is 0.62-0.67, and the value of the ratio T of the comfortable support height of the chest to the height is 0.64-0.70. These are basically consistent with the analysis data of "position when the legs are dynamically swung" (the ratio of the height of the elbow support point to the height is 0.65-0.75). The subjects gave feedback that bilateral support is more comfortable and easier to use external force than thoracic support, whether they are standing statically or swinging their legs dynamically. The load value for static support is basically within the range of the load value for dynamic swinging of the legs. When the user is supported on both sides, the maximum load reduction to body weight ratio is 0.10-0.66, and the minimum load reduction to body weight ratio is 0.08-0.36. When the user is supported on the chest, the maximum load reduction to body weight ratio is 0.03-0.49, and the minimum load reduction to body weight ratio is 0-0.22. The values ​​of the model parameters α, β, γ, δ are calibrated and adjusted based on the values ​​of S, N, Q, and T. Under the condition that the user feels comfortable and the constraint of the load reduction of the supporting leg is satisfied, k4=0, and under the condition that the user feels uncomfortable or the constraint of the load reduction of the supporting leg is not satisfied, k4=1. The formula for the comfort flag bit used in this embodiment is k4=round(0.25Q+0.28S+0.15T+0.18N).

[0071] The treatment process control module matches the number of exercises, frequency of exercises, and magnitude of exercises collected by the exercise amount collection unit with the corresponding values ​​of the treatment model, and calls the corresponding feedback command in the feedback information storage module according to the matching result. When the user's accuracy-comfort relationship data in the use state matches the accuracy-comfort relationship analysis model, it records one effective exercise and triggers the corresponding feedback information; when the exercise amount data matches the prescription of the treatment model, it triggers the corresponding feedback information; when the exercise amount data of the effective exercise number matches the user treatment model, it triggers the corresponding feedback information, guides the user to complete the treatment and rehabilitation training prescribed by the treatment model every day; after the user completes one stage of treatment and rehabilitation training, the treatment process control module introduces the stage classification treatment model of the next stage. The feedback command includes feedback information that the count reaches the standard, feedback information that the accuracy-comfort relationship reaches the standard, encouraging feedback information, separation alarm information, and media information. The separation alarm information is a man-machine separation alarm and a unit separation alarm. The man-machine separation alarm is used to notify users of expired exercise alarm information, including sending alarm information according to a preset time and broadcasting alarm information according to different settings based on the length of the separation time. The unit separation alarm sends related alarms when different units are separated and located too far away, avoiding the loss of some units. The multimedia information is multimedia information that helps users relieve their frustration, including but not limited to music, video, network information, video calls, and anchor chat rooms.

[0072] The operation flow chart of the treatment process control module is shown in FIG. 3 and FIG. 4. Among them, the pre-processing step before training is as follows: Step 1) confirming the user's identity information, guiding the user to log in or create an account, calling up the user's treatment information in the user information storage module and the corresponding user's completion progress information in the treatment tracking module, and selecting and calling up the corresponding knee joint degenerative disease treatment model in the treatment model storage module; Step 2) the accuracy comfort relationship analysis module guides the user to adjust the elbow support height of the exercise support unit and the length of the lower leg length adjustment frame based on the comfortable support height and the load reduction amount data due to support in the user information storage module, and adjusts the elbow support height of the exercise support unit and the length of the lower leg length adjustment frame to a comfortable use position based on the user's physiological information in the case of a first-time user; and step 3) guiding the user to start training in a comfortable state.

[0073] The training phase includes the following steps 1) to 4).

[0074] In step 1), the accuracy / comfort related data collection unit collects accuracy / comfort related data, the movement quantity collection unit collects movement quantity data and inputs it into an accuracy / comfort related analysis model, and the accuracy / comfort related analysis model calculates the user's movement posture based on the accuracy / comfort related data, and when the accuracy / comfort related flag value is 1, outputs a feedback command of the corresponding flag bit, displays the corresponding position through the display, and displays an accurate posture screen.

[0075] If the upright flag bit k1 is 1, a voice message saying "Please stand upright" is output; if the leg upright flag bit k2 is 1, a voice message saying "Your legs are not straight. Stretch your legs and swing them" is output; if the support leg load reduction amount flag bit is 1, a voice message saying "The pressure on your legs is too great. Support yourself with your elbows and adjust the load" is output; if the comfort flag bit k4 is 1, a voice message saying "Perhaps it's uncomfortable to stand on? Please adjust your posture" is output; and the user is notified to correct themselves by, for example, vibrating the incorrect part of the body.

[0076] In step 2), the user's exercise amount data and / or exercise posture data are collected and recorded in real time, and feedback instructions are called in the feedback information storage module to guide the user to complete the standardized exercise, and when the number of times V of single leg support reaches a standard, a voice message of "Please change legs" or "Please rest the supporting leg" is output, when the rest time is less than the time t that the supporting leg must rest, a voice message of "The supporting leg needs to rest. Please wait" is output, when the magnitude of exercise φ does not reach the standard, a voice message of "The magnitude of leg swing is insufficient" is output, and when the number of exercises reaches 100 times, encouraging feedback information is output, and the encouraging feedback information includes a voice message and the activation of a foot massage.

[0077] In step 3), the exercise process control module matches and collates the collected exercise quantity data with the data in the corresponding treatment model until the user's exercise quantity data matches the range specified in the treatment model.

[0078] In step 4), store the user's exercise quantity data and / or exercise posture data, update the user's treatment information and the corresponding user's completion progress status information in the treatment tracking module, and invoke the feedback instruction in the feedback information storage module to guide the user to complete the process.

[0079] Optionally, the motion support unit includes a foldable leg rocking device 1, a multi-function support frame 2, a multi-function support adjustment device 3, a terminal support frame 4, and a display 5, and as shown in Figures 5 to 13 and 16 to 18, the accuracy and comfort related data collection unit and the exercise quantity data collection unit are installed in the motion support unit, and the control unit is integrated into the display 5. The multi-function support frame 2 is used to support the elbow of the user and is fixedly connected with the foldable leg rocking device 1.

[0080] Alternatively, as shown in Figures 6 and 7, the multi-function support frame 2 includes a support base 21, two support rods 22, and two elbow / armpit support brackets 26, the two support rods 22 and the two elbow / armpit support brackets 26 correspond one-to-one, the support base 21 has a guide rail mounting fixing hole 211 mounted in conjunction with the multi-function support adjustment device 3, and a support rod fixing hole 212 connected to the support rod 22, one end of the two support rods 22 is fixedly connected to the support base 21 through the support rod fixing hole 212 and is installed symmetrically with respect to the center line of the support base 21, the elbow / armpit support bracket 26 is rotatably connected to the other end of the corresponding support rod 22, and the rotation axis of the elbow / armpit support bracket 26 is perpendicular to the footrest surface 121. For example, in an embodiment of the present invention, while a user is standing and performing leg swing training, the elbows or armpits are supported by two rectangular elbow / armpit support brackets 26, thereby maintaining body balance and reducing the support burden on the standing leg. One end of the elbow / armpit support bracket 26 is rotatably connected to one end of the support rod 22, and by rotating the elbow / armpit support bracket 26, the distance between the two elbow / armpit support brackets 26 can be adjusted to accommodate different shoulder widths of users, further improving the comfort of the user.

[0081] Optionally, the treatment and rehabilitation device further includes two cam lock rings 23 and two support adjustment rods 24, the two support adjustment rods 24 and the two elbow / armpit support brackets 26 are in one-to-one correspondence, the support adjustment rod 24 includes a third rod body 241 and a fourth rod body 242, one end of the third rod body 241 is rotatably connected to the corresponding elbow / armpit support bracket 26, the other end of the third rod body 241 is connected to one end of the fourth rod body 242, and the other end of the fourth rod body 242 is rotatably connected to the other end of the support rod 22 via the cam lock ring 23, the rotation axis of the fourth rod body 242 is perpendicular to the footrest surface 121, the third rod body 241 and the fourth rod body 242 are installed at a right angle or an obtuse angle, and a second reinforcing web plate 243 is installed at the included angle to enhance stability. For example, in the embodiment of the present invention, a folding bar-shaped support adjustment rod 24 is installed between the elbow / arm support bracket 26 and the support rod 22. The elbow / arm support bracket 26 is rotatably connected and locked to the third rod body 241 via the support bracket lock ring 25. While the elbow / arm support bracket 26 is adjusted to rotate relative to the third rod body 241, the fourth rod body 242 can also be further adjusted to rotate relative to the support rod 22, and finally locked and fixed by the cam lock ring 23. The adjustment range of the elbow / arm support bracket 26 is further expanded to accommodate various support needs of users, and the comfort of use for users is further improved.

[0082] For example, in an embodiment of the present invention, the overall height of the elbow / arm support bracket 26 can be adaptively adjusted to accommodate different heights of users by adjusting the depth of the fourth rod body 242 inserted into the support rod 22.

[0083] As shown in FIG. 8, the folding leg swing device 1 includes a housing 11, a pedal 12, a folding telescopic frame 13, a motor 14, a swing angle frame 15, and a lower leg length adjustment frame 16. The pedal 12 is attached to the housing 11, and the pedal 12 has a footrest surface 121 for a user to stand on. Both the folding telescopic frame 13 and the swing angle frame 15 are rod-shaped, and one end of the folding telescopic frame 13 is connected to the housing 11, and the other end of the folding telescopic frame 13 is hinged to one end of the swing angle frame 15 via a rotating shaft 1a, which is parallel to the footrest surface 121. The motor 14 is attached to the other end of the folding telescopic frame 13 and is drivingly connected to the rotating shaft 1a, and the motor 14 is electrically connected to the control unit. The other end of the swing angle frame 15 is connected to the lower leg length adjustment frame 16, and the lower leg length adjustment frame 16 has a foot support plate 165a for supporting the foot.

[0084] Optionally, as shown in Fig. 10, the swing angle frame 15 includes a first rod body 151 and a second rod body 152, one end of the first rod body 151 is connected to the lower leg length adjustment frame 16, the other end of the first rod body 151 is connected to one end of the second rod body 152, and the other end of the second rod body 152 is hinged to the other end of the folding and telescopic frame 13, and the first rod body 151 and the second rod body 152 are installed at an obtuse angle. Exemplarily, in the embodiment of the present invention, the swing angle frame 15 is installed to be composed of the first rod body 151 and the second rod body 152 having an obtuse included angle, exemplarily, the included angle ranges from 150° to 160°, and a first reinforcing web plate 153 is installed at the included angle to enhance stability. Since it is impossible for the upper and lower legs of the human body to always be perfectly straight, by installing the first rod body 151 and the second rod body 152 at an obtuse angle, it fits better to the structure of the human body, reduces interference between the oscillating angle frame 15 and the inside and outside of the upper leg, and allows the user to move the hip joint as close as possible to the position of the rotation axis 1a when training, improving the comfort of use for the user.

[0085] For example, in an embodiment of the present invention, the foldable leg swing device 1 includes two foldable and extendable frames 13 and two swing angle frames 15, and the two sets of swing structures consisting of the swing angle frames 15 and the lower leg length adjustment frame 16 jointly drive the lower leg length adjustment frame 16 to perform pendulum motion, thereby improving the stability of the structure.

[0086] For example, in the embodiment of the present invention, the method of using the motor 14 to drive the corresponding swing angle frame 15 has a problem of poor stability. As shown in Fig. 11, two gear boxes 17 can be added to the hinge connection between the other ends of the two folding telescopic frames 13 and the swing angle frame 15, respectively, and the power of the two gear boxes 17 can be connected through a shaft coupling 18, and the shaft coupling 18 can be installed in a housing connected between the two gear boxes 17, and the rotation fitting part can be hidden and protected. At this time, only one motor 14 is required to drive the rotation shaft 1a of the hinge connection part of one of the swing angle frames 15 and the hinge connection part of the folding and extending frame 13. The motor 14 transmits power to the gear box 17 on one side, and then through the shaft coupling 18 and the gear box 17 on the other side, the power is transmitted to the swing angle frame 15 on the other side, so that the power of both sides is synchronized to achieve the purpose of left and right double driving, and the stability of the movement of the swing angle frame 15 is improved. The shaft coupling 18 moves backward, and the rotation center of the swing angle frame 15 does not move. In this way, the swing axis of the swing angle frame 15 can be closer to the hip joint, and the trajectory of the swing angle frame 15 can be further fitted to the swing trajectory of the leg, which improves the comfort of the rehabilitation exercise process and ensures that the leg can swing back and forth smoothly.

[0087] Alternatively, as shown in FIG. 9, the lower leg length adjustment frame 16 includes a U-shaped pipe frame 161, a guide rod 164, and a first slider 165, the U-shaped pipe frame 161 is detachably connected to one end of the first rod body 151, the guide rod 164 is installed on the U-shaped pipe frame 161 and is parallel to the first rod body 151, the first slider 165 has a first guide hole 164a, the first slider 165 is slidably attached to the U-shaped pipe frame 161, and is engaged and connected to the guide rod 164 via the first guide hole 164a, the foot receiving plate 165a is attached to the first slider 165, and the first slider 165 further has a locking mechanism 165c for fixedly connecting to the U-shaped pipe frame 161. For example, as shown in FIG. 10, in the embodiment of the present invention, the leg length adjustment frame 16 is inserted and connected to the first rod body 151 of the two swing angle frames 15 through the pipe bodies on both sides of the U-shaped pipe frame 161. The foot support plate 165a attached to the first slider 165 slides on the U-shaped pipe frame 161 along the length direction of the guide rod 164 to adjust the relative position with the U-shaped pipe frame 161 to accommodate the leg lengths of users of different heights. After adjusting to a comfortable stepping position for the user, the first slider 165 and the U-shaped pipe frame 161 are fixedly connected by the lock mechanism 165c, completing the adjustment and fixing of the position of the foot support plate 165a. The comfort of use for the user is further improved.

[0088] For example, in the embodiment of the present invention, the leg length adjustment frame 16 may further include a first fixing block 162a, a third slider 163b, a second fixing block 162b, and a second slider 163a. ​​Here, the first fixing block 162a, the third slider 163b, the second fixing block 162b, the second slider 163a, and the first slider 165 are installed in order along the length direction of the guide rod 164, and are connected to the guide rod 164 by installing guide holes. Here, the first fixing block 162a and the second fixing block 162b are fixedly connected to the U-shaped pipe frame 161, and the third slider 163b and the second slider 163a can slide relative to the U-shaped pipe frame 161 along the length direction of the guide rod 164, thereby adjusting the position to realize support for the user's calves, and further improving the comfort of the user.

[0089] In Fig. 9, the folding leg rocking device 1 is in its longest state, and the first slider 165 can be adjusted to fit the length of the lower leg by sliding in the direction of the arrow. When the first slider 165 abuts against the second slider 163a, the second slider 163a and the third slider 163b move oppositely under the action of the connecting rod. The sliders and the fixed block support the calf. The first slider 165 has a locking mechanism 165c, and the first slider 165 slides the U-shaped pipe frame to a comfortable position for the user and is locked by the locking mechanism 165c.

[0090] For example, in the embodiment of the present invention, as shown in Figures 7, 8 and 9, a support plate connecting rod 165b may be installed to connect the foot support plate 165a and the first slider 165. Here, one end of the support plate connecting rod 165b is rotatably connected to the foot support plate 165a via a torsion spring, and the other end of the support plate connecting rod 165b is rotatably connected to the first slider 165 via a torsion spring, and the rotation axes of both ends of the support plate connecting rod 165b are all parallel to the rotation axis 1a. The foot support plate 165a naturally spreads when pressed by the sole of the foot. The foot support plate 165a and the first slider 165 are designed to have the above-mentioned double elastic rotation axis, and since the rotation center of the hip joint of the human body and the rotation center of the swing angle frame cannot be completely coaxial, there is a deviation between the foot trajectory and the swing trajectory of the lower leg bracket during swing. The foot support plate 165a connected by this structure can rotate in real time according to the foot trajectory during swinging, thereby avoiding the compression and pulling of the foot caused by the imperfect synchronization of the trajectory. After the training is completed, the foot support plate 165a can be reset under the action of the torsion spring, which further improves the comfort of use for the user.

[0091] 10 and 12, in the embodiment of the present invention, the folding telescopic frame 13 may include a telescopic rod 131, a folding frame 132, and a housing connecting rod 133. As can be seen from the view in the direction A of FIG. 12, one end of the telescopic rod 131 is hingedly connected to the swing angle frame 15 via a rotation axis 1a, and the other end of the telescopic rod 131 is inserted and connected to the rod-shaped folding frame 132 so as to be telescopically connected. The housing 11 is provided with a rotation axis hole 11a connected to the housing connecting rod 133, and the axis of the rotation axis hole 11a is parallel to the rotation axis 1a, one end of the housing connecting rod 133 is rotatably connected to the rotation axis hole 11a, and the other end of the housing connecting rod 133 is hingedly connected to the middle of the folding frame 132, and the hinge axis of the other end of the housing connecting rod 133 is parallel to the rotation axis 1a. The housing 11 is further provided with a long hole 11b parallel to the footrest surface 121, and one end of the folding frame 132 is slidably mounted in the long hole 11b via a connecting rod rotating shaft 132a. As can be seen by combining the views in the two directions A and B, two long holes 11b are symmetrically provided at the illustrated positions on both sides of the housing, and as shown in FIG. 12B, the shaft is inserted through the shaft tube of the folding frame and leads to the long holes 11b on both sides of the housing, and the connecting rod rotating shaft 132a of the folding frame 132 is adjusted to slide in the long holes 11b, so that the entire folding and extending frame 13 can be folded and horizontally arranged in the housing 11, and the folding leg rocking device 1 can be folded and stored by locking it with the pressure handle 19 on the connecting rod rotating shaft 132a, making it easy to carry and store.

[0092] For example, in an embodiment of the present invention, Figure 13 shows the folded state of the foldable leg rocking device 1. As shown in Figure 13, a number of massage bumps 12a are installed at equal intervals on the foot tread surface 121 of the pedal 12. At the same time, anti-slip protrusions 12b are protruding and installed on both sides of the foot tread surface 121, which play the role of massage and anti-slip when the user steps on the pedal 12, and can ensure that the user stands stably, further improving the safety and comfort of use of the treatment and rehabilitation device.

[0093] Optionally, as shown in FIG. 14, the treatment and rehabilitation device further includes a reversible folding seat 10, which is rotatably hinged to the other end of the folding and telescopic frame 13, the hinge axis of the reversible folding seat 10 is coaxial with the rotation axis 1a, and the reversible folding seat 10 is for supporting the user's buttocks. Exemplarily, in another possible embodiment, as shown in FIG. 15, the other end of the folding and telescopic frame 13 is provided with a hinged reversible folding seat 10. For a user who has difficulty standing, the reversible folding seat 10 can be rotated around the rotation axis 1a to a horizontal state during training to provide auxiliary support for the user's buttocks, so that the user can perform leg swing training in a sitting position, which further improves the practicality of the treatment and rehabilitation device.

[0094] For example, in the embodiment of the present invention, the accuracy / comfort related data collecting unit includes a first sensor group 61, a second sensor group 62, and a third sensor group 63, and is used to collect accuracy / comfort related data of the user in a use state, and the movement amount data collecting unit includes a fourth sensor group 64, and is used to collect movement amount data of the user in a use state. The accuracy / comfort related data collecting unit and the movement amount data collecting unit are all electrically connected to the control unit, and the first sensor group 61 includes photoelectric sensors respectively installed in front and behind the pedal 12 on the movement support unit, and the receiving ends of the photoelectric sensors are respectively installed vertically above the two transmitting ends, as shown in FIG. 16. When the user performs leg swinging exercise, if the receiving end receives a photoelectric signal, the signal is not blocked by the user, and the trunk upright state value is output as 0 (k1=0); if the receiving end does not receive a photoelectric signal, the signal is blocked by the user, and the trunk upright state value is output as 1 (k1=1). Two sets of photoelectric sensors detect the left foot and the right foot respectively, and the distance between them can be adjusted according to actual needs. The sensor transmits a photoelectric signal upward (vertically). When a person is standing upright, the transmitted signal is not blocked by the human body. When a person is bent over, the signal transmitted by the sensor is blocked by the human body, and the sensor detects the reflected signal, determines that there is an obstacle, and further determines that the human body is not standing upright, and outputs k1=1. When no reflected signal is detected, it indicates that the human body is standing upright, and outputs k1=0. There are four sensors for detecting leg swing in an upright state, and the installation schematic diagram is shown in the top view of FIG. 17. When a person stands on his left foot and swings his right foot, if the sensor on the left end does not detect a reflected signal, it indicates that the left leg is standing upright. When the sensor on the right end detects that there is a reflected signal and the signal changes periodically, it indicates that the right leg is swinging. If the rightmost sensor does not detect the reflected signal, it indicates that the right leg is standing upright. Note that the beam angle of the signal sent by the sensor is very small. If a person is leaning forward, the transmitted signal can be reflected by the inclination of the body and detected by the sensor, which determines that the person is not standing upright.

[0095] The first sensor group 61 can also be realized by installing a TOF sensor on the top rotation axis 1a of the folding and extending frame 13 on the folding leg swinging device 1, and as shown in FIG. 18, the TOF sensor transmits a detection signal above the human body. The TOF sensor transmits a detection signal to the upper body part of the human body (the transmission direction is shown in the figure) and collects a depth of field signal of the subspace (a line connecting the image formed at the shortest distance to the TOF sensor). If the depth of field signal collected by the TOF sensor is perpendicular to the ground, the human body is in an upright state, and the trunk upright state value is output as 0 (k1=0). If the collected depth of field signal is not perpendicular to the ground, the upper body is bent and not upright, and the trunk upright state value is output as 1 (k1=1). The TOF sensor mainly functions to detect whether the upper body is upright or not. The detection of whether the upper and lower legs are upright can be performed by four photoelectric sensors also installed at the stepping position. The photoelectric sensors detect whether there is an obstruction below the upper legs. If the photoelectric sensors detect the presence of an obstruction, it indicates that the upper and lower legs are bent and not upright.

[0096] The second sensor group 62 includes a displacement sensor installed at a location on the lower leg length adjustment frame 16 corresponding to the rear of the user's knee. As shown in FIG. 16, the displacement sensor collects the fit between the user's leg and the lower leg length adjustment frame 16 in real time, and outputs a leg upright state value of 0 if it fits (k2=0), and outputs a leg upright state value of 1 if it does not fit (k2=1).

[0097] In the method of realizing the second sensor group 62 by a camera, as shown in Fig. 19, a camera is attached to the front of the exercise support unit and the camera identifies the posture and movement of the person. The control system can identify the posture and movement of the person by the openpose system. When a person performs leg swing exercise, the camera can identify whether the trainee is performing leg swing exercise in an upright state or not, and output a trunk upright state value and a leg upright state value.

[0098] The third sensor group 63 includes a weight sensor installed under the pedal of the exercise support unit to collect user weight data in real time, as shown in FIG. 18, and the method of collecting the load reduction amount flag bit of the load supporting leg is to determine whether the load reduction amount / body weight ratio S of the supporting leg when supported on both sides, or the load reduction amount / body weight ratio N of the supporting leg when supported on the chest, is within the range of the load reduction amount Δa of the load supporting leg in the classification treatment model, and output k3=0 if it is, and output k3=1 if it is not.

[0099] The fourth sensor group 64 includes a distance sensor installed at the front of the multifunctional support frame 2 and a photoelectric sensor (which can be used with the first sensor group 61) installed at the side of the housing 11. When the magnitude of movement θ when the user swings his / her leg is measured, the magnitude of movement θ=arctan(D / (HL)) as shown in FIG. 20, where H is the distance from the fulcrum of the user's leg to the top surface of the bottom support, L is the distance between the distance sensor and the obstructed object, and D is the projected distance from the distance sensor to the fulcrum of the user's leg. In the case of a function to measure the magnitude of leg swing, an angle sensor may be attached to the rotation axis of the device to measure the swing width of the device, i.e., the magnitude of movement θ. In the case of measuring the number of times the user swings his / her leg, the photoelectric sensor detects a periodic change in the signal to record the number of movements and the frequency of movements.

[0100] The control unit is configured to control the motor 14 according to the type of leg assist force F in the stage classification treatment model to rotationally drive the swing angle frame 15. When the leg assist force F in the stage classification treatment model is an external force, the motor 14 rotationally drives the swing angle frame 15, when the leg assist force F is a spontaneous movement force, the motor 14 does not provide power to the swing angle frame 15, and the user's legs rotate the swing angle frame 15, when the leg assist force F is resistance, the motor 14 provides a counter force to the swing angle frame 15, and the user overcomes the resistance by leg movement to rotationally drive the swing angle frame 15.

[0101] Optionally, as shown in FIG. 21, the treatment and rehabilitation device further includes a multi-function support adjustment device 3 connected to the housing 11, the multi-function support adjustment device 3 has a first guide rail 31, the first guide rail 31 is parallel to the rotation axis 1a, the support base 21 is slidably connected to the first guide rail 31, the foldable leg rocking device 1 includes two pedals 12, the two pedals 12 are arranged symmetrically with respect to the lower leg length adjustment frame 16. Illustratively, in the embodiment of the present invention, by installing one pedal 12 on each side of the foldable leg rocking device 1, the user can stand and support the left leg on the pedal 12 and support the right leg on the lower leg length adjustment frame 16 to perform rocking training, or stand and support the right leg on the pedal 12 and support the left leg on the lower leg length adjustment frame 16 to perform rocking training according to actual needs. When performing swing training for the right leg, the position of the support base 21 can be adjusted in the length direction of the first guide rail 31, and the multifunctional support frame 2 can be moved to a left position relative to the multifunctional support adjustment device 3 and fixedly connected, and when performing swing training for the left leg, the position of the support base 21 can be adjusted in the length direction of the first guide rail 31, and the multifunctional support frame 2 can be moved to a right position relative to the multifunctional support adjustment device 3 and fixedly connected. In this way, the two elbow / armpit support brackets 26 on the multifunctional support frame 2 can be moved to positions that make it easy to support the user's elbows or armpits, further improving the practicality of the treatment and rehabilitation device and the comfort of use for the user.

[0102] For example, in the embodiment of the present invention, the multi-function support adjustment device 3 may be provided with a second guide rail 32 perpendicular to the first guide rail 31, and the housing 11 is slidably mounted on the second guide rail 32. The user can adjust the relative position of the housing 11 in the length direction of the second guide rail 32 according to actual needs to adjust the distance between the entire foldable leg rocking device 1 and the multi-function support frame 2, and adjust the size of the standing space, thereby adapting to the use of users with different body types, such as obese people and thin people, and further improving the practicality of the treatment and rehabilitation device and the comfort of use for users.

[0103] As shown in Fig. 21, when the user's left leg undergoes rehabilitation training with the leg rocking device, the user's right foot steps on the right pedal, and when the user switches to training the right leg, the left foot steps on the left pedal, at this time the human body moves to the left by half a body position, and then the position of the multi-function support frame 2 needs to be adjusted at the same time to be supported in normal alignment, so the translation in the X direction can solve this problem. By adjusting in the X direction and the Y direction in conjunction with each other, not only can the relative support position be changed, but moving in the Y direction can increase or decrease the standing space of the user, so that the multi-function support adjustment device 3 can be adapted to the needs of users with different heights and weights, and the usability of the device is greatly improved.

[0104] As shown in Figure 22, the terminal support frame 4 includes a straight pipe frame 41, a U-shaped rotating pipe frame 42 and a freely adjustable bracket 44, the straight pipe frame 41 is perpendicular to the foot tread surface 121, and one end is fixedly connected to the multi-function support adjustment device 3 of the foldable leg rocking device, the other end of the straight pipe frame 41 is rotatably connected to the U-shaped rotating pipe frame 42, and the other end of the U-shaped rotating pipe frame 42 is rotatably connected to the freely adjustable bracket 44. A remote control mounting base 43 for storing the device's remote control is installed on the U-shaped rotating pipe frame 42, and the other end of the freely adjustable bracket 44 is for supporting the display 5.

[0105] When a user needs to use the treatment and rehabilitation device to perform rehabilitation training, one leg stands upright on the footrest surface 121 of the pedal 12 of the folding leg swinging device 1, the other leg that needs rehabilitation training is fixed to the swinging structure consisting of the swing angle frame 15 and the lower leg length adjustment frame 16, and the foot of the other leg may step on the foot support plate 165a for support and positioning. While standing, the user may support his / her elbow or armpit on the multi-function support frame 2 to ensure body balance and reduce the support burden of the standing leg. After that, the user can rely on his / her own strength to make the lower leg length adjustment frame 16 and the swing angle frame 15 fixed to the leg swing around the rotation axis 1a with respect to the folding and extending frame 13, or the control unit controls the motor 14 according to a program preset by the control unit to swing the lower leg length adjustment frame 16 and the swing angle frame 15 using the motor 14 to perform rehabilitation training. During training, the first sensor group 61, the second sensor group 62, and the third sensor group 63 installed on the pedal 12 can collect the user's accuracy and comfort related data, including the comfortable support height, the load reduction amount of the supporting leg, the trunk upright state value, and the leg upright state value. The fourth sensor group 64 installed on the housing 11 can collect the user's exercise amount data, including the number of movements, the frequency of movements, and the magnitude of movements of the leg swing exercise, and transmit the accuracy and comfort related data and the exercise amount data to the control unit for collection and analysis. The treatment process control module in the control unit calls the corresponding feedback command in the feedback information storage module according to the accuracy and comfort related judgment command, matches the number of movements, the frequency of movements, and the magnitude of movements collected by the exercise amount collection unit with the corresponding values ​​of the classification treatment model, and calls the corresponding feedback command in the feedback information storage module according to the matching result to control the number of rotations and frequency at which the motor 14 drives the swing angle frame 15, ensures that the swing speed and the swing magnitude used for the legs are within an appropriate range, and improves the treatment and rehabilitation effect.

[0106] When the control unit receives the accuracy-comfort related data collected by the first sensor group 61, the accuracy-comfort related data collected in real time can be input into the accuracy-comfort related analysis model by the accuracy-comfort related analysis module, the user's posture information can be judged in real time, an accuracy-comfort related judgment command can be output, and if the user's accuracy-comfort relatedness is unsatisfactory, a fail flag bit can be output at the same time. Finally, the user can be notified through audio, video, or tactile information, and the user can be made to adjust to a standard body posture to ensure the therapeutic and rehabilitation effect.

[0107] The above examples applied to the rehabilitation device are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the concept of the present invention are equivalent substitutions and fall within the scope of protection of the present invention. [Explanation of symbols]

[0108] 1. Folding leg swing device 1a, Rotation axis 11. Housing 11a, rotating shaft hole 11b, long hole 12. Pedals 12a, massage bump 12b, Anti-slip protrusion 13. Folding telescopic frame 14. Motor 15. Swing angle frame 16. Leg length adjustment frame 17. Gearbox 18. Shaft coupling 19. Pressure handle 121. Footstep surface 131. Telescopic rod 132, folding frame 132a, connecting rod rotating shaft 133, housing connecting rod 151, first rod body 152, second rod body 153, first reinforcing web plate 161. U-shaped pipe frame 162a, first fixed block 162b, second fixed block 163a, 2nd slider 163b, 3rd slider 164, guide rod 165, 1st slider 165a, foot support plate 165b, backing plate connecting rod 165c, locking mechanism 164a, first guide hole 2. Multi-function support frame 21. Support base 22, support rod 23. Cam lock ring 24. Support adjustment rod 25, Support bracket lock ring 26. Elbow and armpit support bracket 211, guide rail mounting hole 212, support rod fixing hole 241, the third rod body 242, 4th rod body 243, second reinforcing web plate 3. Multifunctional support adjustment device 31. First guide rail 32. Second guide rail 4. Terminal support frame 41. Straight pipe frame 42. U-shaped rotating pipe frame 43. Remote control mounting stand 44. Freely adjustable bracket 5. Display 61, First Sensor Group 62, second sensor group 63, 3rd Sensor Group 64, 4th Sensor Group 10. Reverse folding sheet

Claims

1. A knee joint degenerative disease treatment and rehabilitation device based on KOAPT therapy, which requires a user to swing their leg as a treatment, The device includes an accuracy and comfort related data collection unit, a motion amount collection unit, a motion support unit, a control unit, and a feedback unit; The motion support unit is used to provide a user with trunk support, and / or lumbar support, and / or elbow support; The accuracy / comfort related data collection unit is attached to the motion support unit and is used to collect accuracy / comfort related data of the user in a usage state, and the accuracy / comfort related data is data related to an accurate and comfortable body shape in a motion state required for KOAPT therapy, and the accuracy / comfort related data includes a comfortable support height, a load reduction amount of the support leg, a trunk upright state value, and a leg upright state value; The exercise amount collection unit is attached to the exercise support unit and is used for collecting the user's leg swing exercise amount data in real time in a use state, and the exercise amount data includes the exercise amount, the exercise frequency, and the exercise size of the leg swing exercise; The control unit executes the KOAPT computer program arranged in the control device, and collects the user's accuracy-comfort related data in real time under the use state, and judges in real time whether the user's comfortable support height during exercise, the load reduction amount of the support leg, the trunk upright state value, and the leg upright state value are consistent with the user's accuracy-comfort related default value, and when the user's accuracy-comfort related value is unsatisfactory, outputs a feedback command to control the feedback unit to output corresponding feedback information, so as to guide the user to correct the exercise posture, and collects the user's exercise amount data in real time, and guides the user to complete the treatment and rehabilitation training according to the stage classification treatment model; The device for treating and rehabilitating knee joint degenerative disease based on KOAPT therapy, characterized in that the feedback unit is used to send audio and / or video and / or tactile signals to the user based on the control command.

2. The KOAPT computer program includes a stage classification treatment model storage module, an accuracy and comfort relationship analysis module, a treatment process control module, a treatment tracking module, a feedback information storage module, and a user information storage module; The stage classification treatment model storage module is used for storing a stage classification treatment model; The accuracy-comfort relationship analysis module is used for inputting the accuracy-comfort relationship data collected in real time into an accuracy-comfort relationship analysis model, judging the user's body shape data in real time, outputting an accuracy-comfort relationship judgment command, and simultaneously outputting a fail flag bit when the user's accuracy-comfort relationship is fail; The treatment process control module is used for calling a corresponding feedback command in the feedback information storage module according to the accuracy comfort relationship judgment command, matching the exercise amount, exercise frequency and exercise magnitude collected by the exercise amount collection unit with the corresponding value of the classification treatment model, and calling a corresponding feedback command in the feedback information storage module according to the matching result; The treatment tracking module is used for monitoring the user's progress in completing the treatment course and calling up the corresponding feedback instruction in the feedback information storage module; The feedback information storage module includes: feedback information of count reaching a standard, feedback information of accuracy-comfort relationship reaching a standard, encouragement feedback information, separation warning information, and media information; The treatment and rehabilitation device for knee joint degenerative disease based on KOAPT therapy as described in claim 1, characterized in that the user information storage module is used to store user personal information, accuracy and comfort related data, and exercise amount data.

3. The accuracy-comfort relationship analysis model is y=k1+k2+k3+k4+k5, in which y is the flag value of the user's accuracy-comfort relationship, k1 is the body upright flag bit, k2 is the leg bending flag bit, k3 is the supporting leg load reduction amount flag bit, k4 is the comfort flag bit, and k5 is the redundant flag bit, and when y=0, the user's accuracy-comfort relationship is pass, and when y=1, the user's accuracy-comfort relationship is fail.

4. The method of calculating the comfort flag bit is k4=round(αQ+βS+γT+δN), where Q is the comfortable support height / height ratio of both sides, S is the load reduction / body weight ratio of the supporting leg when supported by both sides, T is the comfortable support height / height ratio of the chest, N is the load reduction / body weight ratio of the supporting leg when supported by the chest, α, β, γ, δ are model parameters obtained by parameter calibration and preset according to the user's body shape data, and round() represents rounding off.

5. The treatment and rehabilitation device for knee joint degenerative disease based on KOAPT therapy according to claim 1, characterized in that the stage classification treatment model is a treatment model of X1 class, a treatment model of X2 class, and a treatment model of X3 class, and in each stage classification treatment model, the duration of the stage, the number of times V of single leg support, the magnitude of movement θ, the frequency of movement ω, the auxiliary force F of the leg, the amount of movement C, the time t that the supporting leg must rest, and the range of the load reduction amount Δa of the supporting leg are set.

6. The treatment and rehabilitation device for knee joint degenerative disease based on KOAPT therapy as described in claim 1, characterized in that the motion support unit includes a foldable leg rocking device (1) and a multi-function support frame (2), the foldable leg rocking device (1) is used to support the user's trunk, and the multi-function support frame (2) is used to support the user's elbow, and both are fixedly engaged.

7. The folding leg swing device (1) includes a housing (11), a pedal (12), a folding and extending frame (13), a motor (14), a swing angle frame (15), and a lower leg length adjustment frame (16). The housing (11) is a bottom support, two pedals (12) are attached to the housing (11), two folding telescopic frames (13) are positioned above the housing (11) and stand vertically, and are fixed by a housing connecting rod (133). The upper ends of the two swinging angle frames (15) are hung on the folding telescopic frames (13) respectively and swing back and forth relative to the folding telescopic frames (13). The lower ends of the two swinging angle frames (15) are inserted into the lower leg length adjustment frames (16) and fixed together. The motor (14) is installed at the upper end of the swinging angle frames (15) to drive the swinging angle frames (15) and the lower leg length adjustment frames (16) to make them swing around their ends in a pendulum motion. The control unit is configured to control the motor (14) in accordance with the setting of a stage classification treatment model to rotate the oscillating angle frame (15). A treatment and rehabilitation device for knee joint degenerative diseases based on KOAPT therapy as described in claim 6.

8. The treatment and rehabilitation device for knee joint degenerative diseases based on KOAPT therapy as described in claim 6, characterized in that the multi-functional support frame (2) includes a support base (21), two support rods (22), and two elbow and armpit support brackets (26), the support base (21) is located at the bottom, and two support rods (22) are symmetrically arranged on the upper part, the support rods (22) are connected to the support adjustment rod (24) by a cam pressure handle, a reinforcing web plate is provided below the support adjustment rod (24), and the elbow and armpit support brackets (26) are horizontally installed on the top end of the support adjustment rod (24).

9. The treatment and rehabilitation device for degenerative knee joint diseases based on KOAPT therapy as described in claim 7, characterized in that the lower leg length adjustment frame (16) includes a U-shaped pipe frame (161), a guide rod (164), and a first slider (165), the lower leg length adjustment frame (16) is inserted and connected to two oscillating angle frames (15) via pipe bodies on both sides of the U-shaped pipe frame (161), and the foot support plate (165a) attached to the first slider (165) slides on the U-shaped pipe frame (161) along the length direction of the guide rod (164) to adjust its relative position with the U-shaped pipe frame (161) to accommodate the leg lengths of users of different heights.

10. The treatment and rehabilitation device for knee joint degenerative disease based on KOAPT therapy as described in claim 6, characterized in that the treatment and rehabilitation device further includes a terminal support frame (4) for supporting a display screen and adjusting its height and angle.

11. The treatment and rehabilitation device for degenerative knee joint diseases based on KOAPT therapy as described in claim 7, characterized in that an inverted folding seat (10) is installed at the top end of each of the two folding and extending frames (13), and the two inverted folding seats (10) are connected between each other via a gear box (17) and a shaft coupling (18).

12. The treatment and rehabilitation device for degenerative knee joint diseases based on KOAPT therapy as described in claim 7, characterized in that an inverted folding seat (10) is installed at the top end of the folding and extending frame (13) and is rotatably hingedly connected to the upper end of the folding and extending frame (13).

13. The treatment and rehabilitation device for knee joint degenerative disease based on KOAPT therapy as described in claim 6, characterized in that the accuracy and comfort related data collection unit includes a first sensor group (61), a second sensor group (62), and a third sensor group (63) and is used to collect accuracy and comfort related data of the user in a state of use, and the movement amount collection unit includes a fourth sensor group (64) and is used to collect movement amount data of the user in a state of use.

14. The device for treatment and rehabilitation of degenerative knee joint diseases based on KOAPT therapy as described in claim 13, characterized in that the first sensor group (61) is a photoelectric sensor respectively installed in front and behind the pedal on the motion support unit, the receiving end of the photoelectric sensor is respectively installed vertically above the two transmitting ends, when the receiving end receives a photoelectric signal when the user performs leg swinging motion, the signal is not blocked by the user and the trunk upright state value is output as 0 (k1=0), and when the receiving end does not receive a photoelectric signal, the signal is blocked by the user and the trunk upright state value is output as 1 (k1=1).

15. The second sensor group (62) includes a displacement sensor installed at a location on the lower leg length adjustment frame corresponding to the rear of the user's knee, and the displacement sensor collects the fit state between the user's leg and the lower leg length adjustment frame in real time, and outputs a leg upright state value of 0 (k2 = 0) if the fit is good, and outputs a leg upright state value of 1 (k2 = 1) if the fit is bad. The treatment and rehabilitation device for knee joint degenerative diseases based on KOAPT therapy as described in claim 13, characterized in that

16. The third sensor group (63) includes a weight sensor installed under the pedal of the exercise support unit and is used to collect the user's weight data in real time, and the method of calculating the load reduction amount flag bit of the supporting leg is to determine whether the load reduction amount / body weight ratio S of the supporting leg when supported on both sides or the load reduction amount / body weight ratio N of the supporting leg when supported on the chest is within the range of the load reduction amount Δa of the supporting leg in the classification treatment model, and output k3=0 if so, and output k3=1 if not.

17. The fourth sensor group (64) includes a distance sensor installed at the front of the multi-function support frame (2) and a photoelectric sensor installed at the side of the housing (11), and the method of collecting the magnitude of the movement in the movement amount data is to install a distance sensor on the upper surface of the bottom support of the movement support unit, and the magnitude of the movement θ=arctan(D / (H-L)), in which H is the distance from the support point of the user's leg to the upper surface of the bottom support, L is the distance between the distance sensor and the obstructed object, and D is the projection distance from the distance sensor to the support point of the user's leg.

18. The treatment and rehabilitation device for knee joint degenerative disease based on KOAPT therapy as described in claim 8, characterized in that when the control unit determines that the comfort flag bit is 1, the control feedback unit sends audio and / or video and / or tactile signals to the user to guide the user to adjust the height of the lumbar support and / or elbow support, or controls the lumbar support and / or elbow support to automatically adjust their height until the comfort flag bit becomes 0.

19. The treatment and rehabilitation device for knee joint degenerative disease based on KOAPT therapy as described in claim 1, characterized in that the accuracy comfort related data collection unit and the momentum collection unit are realized by an ultrasonic sensor, a displacement sensor, a gravity sensor, a photoelectric sensor, a radar and / or a camera.

Images