Rehabilitation method and device for aiding continuity of rehabilitation between different environments

Abstract

A rehabilitation method according to the present invention corresponds to a rehabilitation method for a patient using a device including a robot or a machine, the method including the steps in which: a device learns a process of rehabilitation treatment performed in a first space in which the patient receives the rehabilitation treatment by using the device; the device determines a difference between the first space and a second space with respect to the process of the rehabilitation treatment in the second space different from the first space; and the device modifies the process of the rehabilitation treatment on the basis of the difference between the first space and the second space and uses the modified process of the rehabilitation treatment so as to perform the rehabilitation treatment on the patient.

Description

Rehabilitation methods and devices that facilitate continuity of rehabilitation across different environments

[0001] Embodiments of the present invention relate to rehabilitation methods and devices that facilitate continuity of rehabilitation across different environments.

[0002] As rehabilitation becomes more specialized and sophisticated, the modalities and devices desired by rehabilitation institutions are becoming increasingly complex. While rehabilitation treatment can be successfully performed in medical institutions with the aid of rehabilitation technology, upon discharge to a non-specialized institution or other setting, the lack of tools and devices or environmental changes can make it difficult to continue the rehabilitation treatment previously provided at specialized institutions. In particular, patients with mobility difficulties often face challenges in maintaining continuity of rehabilitation, even making multiple visits to specialized institutions in a short period of time. Recently, technologies such as robotic rehabilitation therapy have been developed that enable non-human intervention to mediate the spatiotemporal aspects of rehabilitation treatment.

[0003] The present invention aims to address various issues, including those described above, by providing a rehabilitation method and device that facilitates continuity of rehabilitation across different environments. However, these tasks are exemplary and do not limit the scope of the present invention.

[0004] According to one aspect of the present invention, a method for rehabilitation of a patient using a device including a robot or a machine is provided, the method comprising: a step in which the device learns the process of rehabilitation treatment performed in a first space in which the patient performs rehabilitation treatment using the device; a step in which the device determines a difference between the first space and the second space with respect to the process of rehabilitation treatment in a second space different from the first space; and a step in which the device modifies the process of rehabilitation treatment based on the difference between the first space and the second space and performs rehabilitation treatment of the patient using the modified process of rehabilitation treatment.

[0005] The step of learning the process of the above rehabilitation treatment may include a step of learning the environment of the first space based on an image captured using a camera provided in the device.

[0006] The step of determining the difference between the first space and the second space may include a step of determining the difference between the first space and the second space based on an image captured using a camera provided in the device.

[0007] The step of performing rehabilitation treatment for the patient may include a step of determining a process of rehabilitation treatment that requires modification for the second space based on differences between the process of rehabilitation treatment learned in advance and the first space and the second space, and a step of modifying the process of rehabilitation treatment.

[0008] According to one aspect of the present invention, a rehabilitation device is provided, including a search unit that learns the process of rehabilitation treatment performed in a first space in which a patient performs rehabilitation treatment, and a judgment unit that determines the difference between the first space and the second space with respect to the process of rehabilitation treatment in a second space different from the first space, modifies the process of rehabilitation treatment based on the difference between the first space and the second space, and performs rehabilitation treatment of the patient using the modified process of rehabilitation treatment.

[0009] The above exploration unit can learn the environment of the first space based on images captured using a camera.

[0010] The above judgment unit can judge the difference between the first space and the second space based on an image captured using the camera.

[0011] The above judgment unit can determine the process of the rehabilitation treatment that needs to be modified for the second space based on the difference between the process of the rehabilitation treatment learned in advance and the first space and the second space, and can modify the process of the rehabilitation treatment.

[0012] Other aspects, features, and advantages beyond those described above will become apparent from the following detailed description, claims, and drawings for implementing the invention. Furthermore, the devices described in the above-described embodiments are not limited to robots, and may be non-robotic mechanical devices that do not perform automated search, judgment, and execution.

[0013] According to one embodiment of the present invention, as described above, rehabilitation professionally performed at a rehabilitation institution can be continuously and consistently performed at a high level in different environments. Of course, the scope of the present invention is not limited by these effects.

[0014] FIG. 1 is a drawing for explaining the configuration and operation of a rehabilitation device according to one embodiment of the present invention.

[0015] Figure 2 is a flowchart for explaining a rehabilitation method according to one embodiment of the present invention.

[0016] The present invention is capable of various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention, as well as the methods for achieving them, will become clearer with reference to the embodiments described in detail below, along with the drawings. However, the present invention is not limited to the embodiments disclosed below and can be implemented in various forms.

[0017] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same reference numerals and redundant descriptions thereof will be omitted.

[0018] In the following examples, terms such as "first" and "second" are not used in a limiting sense, but rather to distinguish one component from another. Furthermore, singular expressions include plural expressions unless the context clearly dictates otherwise. Furthermore, terms such as "include" and "have" imply the presence of features or components described in the specification, but do not exclude the possibility that one or more other features or components may be added.

[0019] For convenience of explanation, the sizes of components in the drawings may be exaggerated or reduced. For example, the sizes and thicknesses of each component shown in the drawings are arbitrarily indicated for convenience of explanation, and thus the present invention is not necessarily limited to what is shown.

[0020] In the following embodiments, when a part such as an area, component, sub-part, block or module is said to be on or above another part, this includes not only the case where it is directly on top of the other part, but also the case where another area, component, sub-part, block or module is interposed therebetween. And when it is said that an area, component, sub-part, block or module is connected, this includes not only the case where the areas, components, sub-parts, blocks or modules are directly connected, but also the case where another area, component, sub-part, block or module is interposed therebetween and is indirectly connected therebetween.

[0021] Hereinafter, various embodiments of the present invention will be described in detail with reference to the attached drawings so that a person having ordinary skill in the art to which the present invention pertains can easily practice the present invention.

[0022] FIG. 1 is a drawing for explaining the configuration and operation of a rehabilitation device according to one embodiment of the present invention.

[0023] Referring to FIG. 1, a rehabilitation device (100) according to an embodiment of the present invention may include a search unit (110), an input / output interface (120), a storage unit (130), a determination unit (140), a transmission unit (150), and a power unit (160). For example, the rehabilitation device (100) according to an embodiment of the present invention may include a robot or a mechanical device that assists in rehabilitation treatment of a patient. In addition, the rehabilitation device (100) according to an embodiment of the present invention may communicate with a rehabilitation device (200) to exchange data with each other. For example, the rehabilitation device (200) may include a device or sensor external to the robot that assists in rehabilitation treatment of a patient. However, the present invention is not limited thereto, and some components of the rehabilitation device (100) may be separated into multiple devices, or multiple components may be combined into one device.

[0024] A rehabilitation device (100) according to one embodiment of the present invention can assist with a patient's rehabilitation treatment and learn about the patient's rehabilitation treatment process in a first space. For example, the first space may be a space where patients receive specialized rehabilitation treatment, such as a hospital or rehabilitation center. Furthermore, the rehabilitation device (100) according to one embodiment of the present invention can assist with a patient's rehabilitation treatment in a second space. For example, the second space may be a space where the patient conducts daily activities, such as a home or office.

[0025] In a rehabilitation device (100) according to one embodiment of the present invention, while medical staff, a patient, and the rehabilitation device (100) perform rehabilitation together in a first space (e.g., a hospital), the rehabilitation device (100) learns the process of rehabilitation treatment, emphasizes to the medical staff the items that need to be rehabilitated or modified, receives input or feedback, and stores the same. Then, when the device moves to a second space (e.g., a home) and the patient continues rehabilitation, the rehabilitation device (100) can continue rehabilitation treatment by directly or assisting the patient's rehabilitation based on the learned contents after understanding the environment of the second space, or can manage and provide feedback to a guardian (e.g., a caregiver) who performs the same.

[0026] The exploration unit (110) may include a device capable of acquiring information about the external environment, such as a camera or sensor. Furthermore, the exploration unit (110) may learn about the process of rehabilitation treatment performed in a first space where a patient is undergoing rehabilitation treatment. For example, the exploration unit (110) according to one embodiment of the present invention may learn about the environment of the first space based on images captured using a camera.

[0027] The exploration unit (110) is a device that performs exploration of different environments. As a representative example, it can learn and judge on its own the parts necessary for the patient's rehabilitation in the environment by using pictures with a camera in a robot or machine device, and can also request a judgement by communicating this with the outside. For example, the exploration unit (110) can capture the environment with the around view of the camera. In this case, in the process of rehabilitation at an institution, there are not many walls, but in the case of a home with many walls or doors, information about the environment where the rehabilitation conditions may be different can be obtained. Alternatively, the exploration unit (110) can use sensors attached to important parts of the patient's joints and the rehabilitation environment (e.g., the part of the floor that the feet touch in lower extremity rehabilitation) as a rehabilitation device (200) to quickly learn the environment when there are limitations in learning only with pictures.

[0028] In addition, the rehabilitation device (100) according to the present invention may include an input / output interface (120). The input / output interface (120) may be a means for interfacing with an input / output device. The input / output interface (120) may display current equipment status information. For example, the input device may include a device such as a keyboard or a mouse, and the output device may include a device such as a display for displaying an application's communication session. As another example, the input / output interface (120) may be a means for interfacing with a device that integrates input and output functions, such as a touchscreen.

[0029] The input / output interface (120) can receive input from medical staff before, during, or after the rehabilitation process, if they determine that a specific part of the environment requires rehabilitation. For example, if a standing-up movement is important, the bed floor or railings associated with this may be important in a hospital setting. However, the bed in the patient's home environment may lack certain objects or have different physical characteristics. Therefore, the rehabilitation device according to one embodiment of the present invention can receive information through the input / output interface (120) to learn about this in advance.

[0030] Additionally, the input / output interface (120) can also receive basic information collected separately by the rehabilitation institution (e.g., the patient's height or weight), vital signs during the rehabilitation process, and rehabilitation-related records. For example, in one embodiment of the present invention, the building's high ceiling was not an issue during the institution's rehabilitation process. However, if the ceiling is lowered and height information is needed, height information and information on rehabilitation performed in a sitting position may be more important.

[0031] The storage unit (130) may include storage space inside or outside the robot or mechanical device. In particular, sensitive personal medical information may be stored on a separate server.

[0032] The storage unit (130) is a computer-readable recording medium and may include a non-permanent mass storage device such as a random access memory (RAM), a read-only memory (ROM), and a disk drive. In addition, a program code for controlling the rehabilitation device (100) may be temporarily or permanently stored in the storage unit (130).

[0033] The judgment unit (140) controls the overall operation of the rehabilitation device (100). For example, the judgment unit (140) may be implemented in a form that selectively includes a processor, an Application-Specific Integrated Circuit (ASIC), another chipset, a logic circuit, a register, a communication modem, and / or a data processing device known in the art to perform the above-described operation. For example, the judgment unit (140) may perform basic arithmetic, logic, and input / output operations, and may execute program codes stored in the storage unit (130), for example. The judgment unit (140) may store data in the storage unit (130) or load data stored in the storage unit (130).

[0034] The judgment unit (140) can determine the differences between the first and second spaces in the rehabilitation treatment process in a second space that is different from the first space. Furthermore, the judgment unit (140) can modify the rehabilitation treatment process based on the differences between the first and second spaces. Furthermore, the judgment unit (140) can perform rehabilitation treatment on the patient in the second space using the modified rehabilitation treatment process.

[0035] In addition, the judgment unit (140) according to one embodiment of the present invention can judge the difference between the first space and the second space based on an image captured using a camera.

[0036] In addition, the judgment unit (140) according to one embodiment of the present invention can determine the process of rehabilitation treatment that needs to be modified for the second space based on the difference between the process of rehabilitation treatment learned in advance and the first space and the second space, and can modify the process of rehabilitation treatment to suit the second space.

[0037] The judgment unit (140) can determine various matters using information acquired through the search unit (110) and the input / output interface (120). For example, the judgment unit (140) can determine what other environmental factors are present, determine which parts of the rehabilitation process need to be changed due to the changed environmental factors, and determine which information to store and which information to instruct the power unit (160).

[0038] The transmission unit (150) can transmit stored information, etc. to another device or system.

[0039] The transmission unit (150) may provide a function for communicating with an external device or server via a network. For example, a request generated by the processor of the rehabilitation device (100) according to program code stored in a storage device such as memory may be transmitted to an external server via a network under the control of the communication module. Conversely, control signals, commands, content, files, etc. provided under the control of the processor of the external server may be received by the rehabilitation device (100) via the network.

[0040] The communication method is not limited, and may include not only a communication method that utilizes a communication network that the network may include (e.g., a mobile communication network, a wired Internet, a wireless Internet, a broadcasting network), but also short-range wireless communication between devices. For example, the network may include any one or more of a personal area network (PAN), a local area network (LAN), a campus area network (CAN), a metropolitan area network (MAN), a wide area network (WAN), a broadband network (BBN), and the Internet. In addition, the network may include any one or more of a network topology including, but not limited to, a bus network, a star network, a ring network, a mesh network, a star-bus network, a tree, or a hierarchical network.

[0041] The power unit (160) may include a robotic arm that can move freely in the three-dimensional plane of the robot. For example, the power unit (160) may perform personalized movements according to rehabilitation prescriptions and movements. For example, the power unit (160) may include currently commercially available rehabilitation devices.

[0042] According to the present invention, a rule-based algorithm can be applied, allowing rehabilitation medical staff to prescribe and input learning for a robot or mechanical device. If possible, an artificial intelligence algorithm can be applied to enable the robot to learn, make judgments, and operate on its own, but this is not required. Remote rehabilitation using a robot or mechanical device is also possible, but not required.

[0043] Additionally, in other embodiments, the rehabilitation device (100) may include more components than those of FIG. 1. For example, it may be implemented to include at least some of the input / output devices described above, or may further include other components such as a battery and charging device for supplying power to internal components, various sensors, a database, etc.

[0044] Figure 2 is a flowchart illustrating a rehabilitation method according to one embodiment of the present invention. The rehabilitation method according to one embodiment of the present invention may include a method for rehabilitating a patient using a robot. Furthermore, the rehabilitation method according to one embodiment of the present invention may be performed by the rehabilitation device (100) illustrated in Figure 1.

[0045] Referring to FIG. 2, in step S110 of the rehabilitation method according to one embodiment of the present invention, a device including a robot or a machine can learn the process of rehabilitation treatment performed in a first space where a patient performs rehabilitation treatment.

[0046] The step of learning the process of rehabilitation treatment according to one embodiment of the present invention may include a step of the device learning the environment of the first space based on an image captured using a camera provided in the device.

[0047] In step S120 of the rehabilitation method according to one embodiment of the present invention, the device can determine the difference between the first space and the second space with respect to the process of rehabilitation treatment in a second space different from the first space.

[0048] The step of determining the difference between the first space and the second space according to one embodiment of the present invention may include a step of the device determining the difference between the first space and the second space based on an image captured using a camera provided in the device.

[0049] In step S130 of the rehabilitation method according to one embodiment of the present invention, the device can modify the process of rehabilitation treatment based on the difference between the first space and the second space and perform rehabilitation treatment of the patient using the modified process of rehabilitation treatment.

[0050] The step of performing rehabilitation treatment on a patient according to one embodiment of the present invention may include a step of determining a rehabilitation treatment process that requires modification for the second space based on differences between the rehabilitation treatment process learned in advance by the device and the first space and the second space, and modifying the rehabilitation treatment process.

[0051] According to the present invention, rehabilitation performed at a rehabilitation facility can be continued in a different environment, or at a higher level. Furthermore, the present invention ultimately enables robots to replace medical staff at rehabilitation facilities, personalized rehabilitation, and rehabilitation assistants (caregivers) at the patient's home.

[0052] The devices and / or systems described above may be implemented as hardware components, software components, and / or a combination of hardware components and software components. The devices and components described in the embodiments may be implemented using one or more general-purpose computers or special-purpose computers, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. In addition, the processing device may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0053] Software may include computer programs, codes, instructions, or a combination of one or more of these, which may configure a processing device to perform a desired operation or may, independently or collectively, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage media or device, or transmitted signal waves, for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on one or more computer-readable recording media.

[0054] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the medium may be those specially designed and configured for the embodiment or may be those known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of the program commands include not only machine language codes generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc. The above-mentioned hardware devices may be configured to operate as one or more software modules to perform the operations of the embodiment, and vice versa.

[0055] Although the embodiments described above have been described by way of limited examples and drawings, those skilled in the art will appreciate that various modifications and variations can be made based on the above teachings. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0056] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. In a method for rehabilitation of a patient using a device including a robot or machine, A step of learning the process of the rehabilitation treatment performed in the first space by the device in which the patient performs rehabilitation treatment using the device; A step in which the device determines the difference between the first space and the second space in relation to the process of the rehabilitation treatment in a second space different from the first space; and A step of performing rehabilitation treatment on the patient by modifying the process of rehabilitation treatment based on the difference between the first space and the second space and using the modified process of rehabilitation treatment; A method of rehabilitation, including:

2. In paragraph 1, A rehabilitation method, wherein the step of learning the process of the above rehabilitation treatment includes a step of learning the environment of the first space based on an image captured using a camera provided in the device.

3. In paragraph 2, A rehabilitation method, wherein the step of determining the difference between the first space and the second space includes the step of determining the difference between the first space and the second space based on an image captured using a camera provided in the device.

4. In paragraph 2, A rehabilitation method, wherein the step of performing rehabilitation treatment for the patient comprises a step of determining the process of rehabilitation treatment that requires modification for the second space based on the difference between the process of rehabilitation treatment learned in advance and the first space and the second space, and a step of modifying the process of rehabilitation treatment.

5. An exploration unit that learns the process of the rehabilitation treatment performed in the first space where the patient is performing rehabilitation treatment; and A judgment unit that determines the difference between the first space and the second space in the process of the rehabilitation treatment in a second space different from the first space, modifies the process of the rehabilitation treatment based on the difference between the first space and the second space, and performs rehabilitation treatment of the patient using the modified process of the rehabilitation treatment; A rehabilitation device comprising:

6. In paragraph 5, The above-mentioned exploration unit is a rehabilitation device that learns the environment of the first space based on images captured using a camera.

7. In paragraph 6, A rehabilitation device in which the judgment unit determines the difference between the first space and the second space based on an image captured using the camera.

8. In paragraph 6, A rehabilitation device in which the above judgment unit determines the rehabilitation treatment process that requires modification for the second space based on the differences between the rehabilitation treatment process learned in advance and the first space and the second space, and modifies the rehabilitation treatment process.

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