Integrated hand and wrist rehabilitation platform

Abstract

The invention relates to a rehabilitation platform (1) for the rehabilitation of patients' hands and wrists. The innovation is that it comprises at least one main unit (10) with at least one positioning area (12) to enable the patient to position the arm, at least one finger rehabilitation unit (30) to enable the patient to perform finger exercises, to perform hand and wrist rehabilitation in a single device, said finger rehabilitation unit (30) comprising at least one motion transmission member (31) that applies force to the fingers, comprising at least one drive member (35) providing drive to the said motion transmission member (31), comprising at least one wrist rehabilitation unit (20) with to allow the patient to perform wrist exercises.

Description

[0001] INTEGRATED HAND AND WRIST REHABILITATION PLATFORM

[0002] TECHNICAL FIELD

[0003] The invention relates to a rehabilitation platform for the rehabilitation of patients' hands and wrists.

[0004] BACKGROUND

[0005] Muscle and Nerve Diseases (Neuromuscular Diseases, NMD) are diseases affecting the movement and sensory systems. Neuromuscular diseases have a direct effect on the musclenerve relationship. Neuromuscular diseases can be congenital or developed later in life.. The progressive muscle weakness observed in the majority of these diseases has a direct impact on the functions of the upper extremities in the human body, preventing daily life activities of the human hand and wrist. During the disease's progression, the hand and wrist lose their functions permanently. As people lose the function of their hands and wrists, they become unable to perform daily activities. This is a difficult condition to recover from in human life.

[0006] Approximately ninety percent of neuromuscular diseases are classified as rare diseases, which are defined as conditions affecting fewer than 5 people in 10,000 (0.05%). The ability to use one's hands in a healthy manner is the most important factor in a person's ability to live a life without relying on others. The hand plays an important role in all upper extremity functions. Most of the disabilities occurring in the upper limb area of the human body are in the hand or forearm, resulting from injuries. Injuries or disabilities to the C-5 vertebrae in the human spinal cord impair hand and wrist function and limit the patient's freedom of movement.

[0007] Hand and wrist movements are made possible by the coordinated action of bones and muscles in conjunction with motor neurons from the central nervous system. Extension refers to the opening of the fingers and upward movements of the wrist; flexion refers to the closing of the fingers and downward movements of the wrist; abduction refers to the horizontal opening of the fingers; and adduction refers to the fingers horizontally approaching to one another. Outward extension of the wrist in the horizontal plane is referred to as ulnar deviation, while inward extension is known as radial deviation. Injuries to the vertebrae, also known as neuromuscular diseases, can impair the natural functions of the hands and wrists, making daily activities difficult for people suffering from these diseases. The loss of movement abilities in the hands and wrists has a significant impact on human life. A patient with restricted hand and wrist movements caused by a neuromuscular disease needs treatment from a physiotherapist, as well as physiotherapy treatment for healthy hand and wrist movements. The more frequent and repetitive the hand and wrist treatment, the faster the patient recovers his or her health.

[0008] Patients who have lost some or all of their hand and wrist movement functions receive rehabilitation during their treatment. Flexion / extension (F-E), abduction / adduction (A-A), and ulnar / radial (U-R) deviation exercises are used in the rehabilitation treatment application, which is accompanied by a physiotherapist, with the goal of restoring the hand / wrist to its original functions. The most important issues for physiotherapists in this disease group are the repetition of A-A movements for the thumb and the continuity of F-E movements for the remaining four fingers. The more frequently physiotherapists provide rehabilitation treatment, the faster the patients regain their lost functions. However, given the current population of neuromuscular patients, the number of physiotherapists is insufficient. Furthermore, the fact that the therapies administered to patients involve numerous and similar repetitions is difficult and exhausting for physiotherapists, reducing the beneficial effect of exercise in the later stages. Physiotherapists' evaluations of the patient's condition during the exercise process differ from one another.

[0009] Rehabilitation robots (platforms) are typically classified into two types based on their mechanical design: end effector (EE) and exoskeleton systems. End effector robots are attached to the fingers' outermost points, transmitting the force required for movement to this specific region. In contrast to exoskeleton robots, end-effector robots do not cover all joint axes. The force applied at the outer attachment point affects the positions of the other joints, making it difficult to move individual joints independently. End effector robots are more adaptable to different hand sizes than wearable exoskeletons, and they require less setup time. They support passive or assisted movement therapy for the finger's proximal joints while ignoring the tactile aspect of distal joint and object manipulation. End effector robots can't control the entire kinematic chain of the finger because they're only connected to its distal joint. Exoskeletons can precisely reproduce the kinematics of a human limb. Exoskeletons are similar to human limbs in that they are attached to multiple points on the hand and have joint axes that coincide with human joint axes. Thus, it supports the movement of each joint by controlling its position and orientation. Controlling joint movements at calculated torques allows you to exercise specific muscles.

[0010] The types of force / torque transmission required for wearable hand and wrist exoskeletons can be categorized under three main headings: Rigid structures, compliant mechanisms, or mechanisms powered by Bowden cables. Rigid transmission systems are one of the earliest and simplest methods for transmitting actuator movements to the appropriate linkages. Direct- drive rigid transmission systems refer to a system in which power from the motor is transferred directly to the relevant connections, regardless of any variables. The main distinction between direct-drive and geared systems is that in geared systems, the motor transmits power through a gear set. Due to mass and motor size, these systems have fewer actuators for moving the fingers. These systems are under-actuated systems. Cables used to transmit force / torque are classified into Bowden-driven cables and tendon-driven cables. However, tendon-driven systems are in the scope of "adaptable" mechanisms. Tendon-driven and Bowden-driven cables differ in terms of their approach. Tendon cables mimic the hand anatomy by flexing and extending the fingers through a cable inside the glove. In contrast, Bowden cables use a more robust design to transmit power to the fingers. Tendon cables, typically attached to the outermost point of the finger, trigger the flexion-extension movement of the finger by applying tension on the cable. Multiple cables are required for each finger for bidirectional functionality.

[0011] There are now robot-assisted rehabilitation platforms for the hands' and wrists' rehabilitation. However, these systems are insufficient to control all wrist functions, particularly when wrist rehabilitation is considered. However, it necessitates a new calibration for each complex wrist geometry that differs from person to person. Furthermore, the fact that wrist and hand rehabilitation takes place on various devices complicates the treatment process and wastes time.

[0012] Consequently, long-term physical therapy is expensive and can put patients in difficult circumstances. For this reason, in addition to the disease the patient is dealing with, the expenses incurred can have a negative impact. As a result of the aforementioned problems, it has become necessary to innovate in the relevant technical field.

[0013] BRIEF DESCRIPTION OF THE INVENTION

[0014] The present invention relates to a rehabilitation platform for eliminating the aforementioned disadvantages and bringing new advantages to the relevant technical field.

[0015] One object of the invention is to create a rehabilitation platform that provides an integrated, advanced rehabilitation process for patients who have lost hand and wrist functions.

[0016] Another object of the invention is to provide a rehabilitation platform that can be tailored to the specific needs of patients.

[0017] A further object of the invention is to create a rehabilitation platform that can perform finger and wrist movements simultaneously or independently.

[0018] A different object of the invention is to develop a rehabilitation platform that automates the rehabilitation process.

[0019] An additional object of the invention is to create a rehabilitation platform that reduces the workload of physiotherapists and long-term treatment costs.

[0020] The present invention relates to a wrist rehabilitation platform for providing hand and wrist rehabilitation for the patients to achieve all of the aforementioned objectives, as will be apparent from the detailed description below. Accordingly, its innovation comprises at least one main unit with at least one positioning area to enable the patient to position the arm, at least one finger rehabilitation unit to enable the patient to perform finger exercises, to perform hand and wrist rehabilitation in a single device, said finger rehabilitation unit comprising at least one motion transmission member that applies force to the fingers, comprising at least one drive member providing drive to the said motion transmission member, comprising at least one wrist rehabilitation unit with to allow the patient to perform wrist exercises. Thus, thanks to the invention's integrated structure, both finger and wrist exercises can be performed on a single device, optimizing the rehabilitation process, increasing treatment effectiveness, and saving time and money by eliminating the need to use multiple devices. Furthermore, since the system may be tailored to the specific needs of each patient, it reduces the need for physiotherapy intervention.

[0021] A possible embodiment of the invention is characterized in that it comprises at least one actuator for thumb flexion and extension, said actuator being positioned on the first axis. Thus, it is ensured that the thumb can move accurately and with control along its natural axis of movement.

[0022] A possible embodiment of the invention is characterized in that it comprises at least one first chamber in connection with the main unit, in which the drive member for driving the thumb is positioned. This ensures that the movement is performed in a safe and stable environment.

[0023] A possible embodiment of the invention is characterized in that it comprises at least one actuator for index, middle, ring and pinky fingers' flexion and extension, said actuator being positioned on the first axis. Thus, it is ensured that the four fingers are moving in balance.

[0024] A possible embodiment of the invention is characterized in that it comprises at least one second chamber in connection with the main unit, in which the drive member for driving the index, middle, ring and pinky fingers is positioned. This ensures that the movement is performed in a safe and stable environment.

[0025] A possible embodiment of the invention is characterized in that said second chamber is positioned in the main unit so as to be rotatable about a second axis. Thus the chamber is enabled to move to an upright position when not in use, freeing up more space.

[0026] A possible embodiment of the invention is characterized in that it comprises at least one gripper connecting the motion transmission member and the glove. Thus the fingers are able to be moved into the proper positions.

[0027] A possible embodiment of the invention is characterized in that it comprises at least one force dispenser. Thus, it is allowed that more than one motion transmission member to be present in the same finger. A possible embodiment of the invention is characterized in that it comprises at least one transfer member for connecting said drive member with the motion transmission member. Thus, it is ensured that the drive member's motion is transmitted linearly to the fingers.

[0028] A possible embodiment of the invention is characterized in that the drive member is a DC motor. Thus, a precise provision of the movement is ensured.

[0029] A possible embodiment of the invention is characterized in that it comprises a motion guiding unit. Thus, a balanced transmission of the force applied to the fingers is ensured.

[0030] A possible embodiment of the invention is characterized in that said motion guiding unit comprises at least one guide, said guide comprising at least one sliding member movable on said guide. Thus, it is ensured that the movement is distributed appropriately to each finger.

[0031] A possible embodiment of the invention is characterized in that there are five of said sliding members, and in that the sliding members comprise at least one connector for connecting the sliding members with each other. Thus, smooth movement of the sliding members is ensured.

[0032] A possible embodiment of the invention is characterized in that the finger rehabilitation unit comprises at least one first flexible body that, when connected to at least one finger, expands when at least one fluid is introduced and contracts when fluid is discharged, allowing the fingers to perform thumb abduction, adduction, and opposition movements. Thus, the said exercises are possible with proper finger support.

[0033] A possible embodiment of the invention is characterized in that the said flexible body has a form of a bellows. Thus, the first flexible body is able to expand and contract.

[0034] A possible embodiment of the invention is characterized in that said wrist rehabilitation unit comprises at least a second flexible body and at least a third flexible body, respectively expanding by transmitting at least one fluid therein and contract by the discharge of fluid therefrom, to enable said wrist rehabilitation unit to perform flexion / extension exercises of the wrist, extension exercises of the finger and ulnar / radial movements of the wrist. Thus, wrist movements are properly supported. A possible embodiment of the invention is characterized in that both the second flexible body and the third flexible body are formed of at least two materials having different elasticity. Thus, it can expand to varying degrees in different parts of the hand.

[0035] A possible embodiment of the invention is characterized in that the said first flexible body comprises at least one conduit. Thus, the fluid may be transmitted into the first flexible body.

[0036] A possible embodiment of the invention is characterized in that the second flexible body comprises at least one conduit. Thus, the fluid may be transmitted into the second flexible body.

[0037] A possible embodiment of the invention is characterized in that the third flexible body comprises at least one conduit. Thus, the fluid may be transmitted into the third flexible body.

[0038] A possible embodiment of the invention is characterized in that the presence of at least one fluid management member that allows the fluid to be transmitted to the first flexible body at the desired pressure value while also vacuuming the transmitted fluid. Thus, the movement of the first flexible body is organized.

[0039] A possible embodiment of the invention is characterized in that the presence of at least one fluid management member that allows the fluid to be transmitted to the second flexible body at the desired pressure value while also vacuuming the transmitted fluid. Thus, the movement of the second flexible body is organized.

[0040] A possible embodiment of the invention is characterized in that the presence of at least one fluid management member that allows the fluid to be transmitted to the third flexible body at the desired pressure value while also vacuuming the transmitted fluid. Thus, the movement of the third flexible body is organized.

[0041] A possible embodiment of the invention is characterized in that said fluid management member is a double-acting pump. Thus, the fluid may be transmitted and discharged easily.

[0042] A possible embodiment of the invention is characterized in that said first flexible body comprises at least one channel. Thus, it is ensured that the fluid is transmitted to the first flexible body. A possible embodiment of the invention is characterized in that said second flexible body comprises at least one channel. Thus, it is ensured that the fluid is transmitted to the second flexible body.

[0043] A possible embodiment of the invention is characterized in that said third flexible body comprises at least one channel. Thus, it is ensured that the fluid is transmitted to the third flexible body.

[0044] A possible embodiment of the invention is characterized in that said fluid management member is a double-acting pump. Thus, the wrist can be moved on both sides.

[0045] A possible embodiment of the invention is characterized in that it comprises at least one slot and the third flexible body is positioned in said slot. Thus, in addition to wrist flexion and extension movements, finger extension movements are also possible.

[0046] A possible embodiment of the invention is characterized in that the main unit comprises at least two frames on its upper surface and the third flexible body is positioned within the frames. Thus, the wrist can perform ulnar and radial movements.

[0047] A possible embodiment of the invention is characterized in that the wrist rehabilitation unit comprises at least one holder for holding the hand. Thus, it is ensured that the wrist exercises are performed properly.

[0048] A possible embodiment of the invention is characterized in that the second flexible body comprises at least one sensor, said sensor being essentially a tactile sensor. This allows the horizontal third flexible bodies to move under motor control until they come into contact with the hand and then stabilize their position, allowing the lateral flexible bodies to be placed without gaps in accordance with the anthropomorphism of each wrist and making efficient use of the propulsion force generated by the inflated elastic surface in wrist U-R rehabilitation.

[0049] A possible embodiment of the invention is characterized in that it comprises at least one actuator which, by positioning the sensor on the third flexible body, allows the frame to zoom in and out towards the hand so that the third flexible body automatically adjusts to the patient's wrist. Thus the frames, and therefore the third flexible body, can be automatically adjusted to fit the patient's hand from either side. This eliminates the need for disassembly and assembly using fasteners like manual screws.

[0050] A possible embodiment of the invention is characterized in that said actuator is an electromechanical actuator.

[0051] BRIEF DESCRIPTION OF THE FIGURES

[0052] Figure 1 shows an isometric representative view of the inventive rehabilitation platform.

[0053] Figure 2 shows an isometric representative view of the inventive rehabilitation platform with the patient's arm in place and the finger rehabilitation unit attached to the hand.

[0054] Figure 3 shows the closing moment of the second chamber of the inventive rehabilitation platform and an isometric representation of the fluid management members from behind.

[0055] Figure 4 shows an isometric representative view of the drive member and the transfer member of the inventive rehabilitation platform.

[0056] Figure 5 shows a representative top view of the finger rehabilitation unit of the inventive rehabilitation platform without the first flexible body.

[0057] Figure 6 shows a representative top view of the first flexible body of the finger rehabilitation unit of the inventive rehabilitation platform, showing the first flexible body in its open state with abduction movement after fluid is pressed into it.

[0058] Figure 7 shows a representative side view of the finger rehabilitation unit of the inventive rehabilitation platform performing flexion movement.

[0059] Figure 8 shows a representative side view of the finger rehabilitation unit of the inventive rehabilitation platform performing the extension movement.

[0060] Figure 9 shows a representative front view of the hand positioned on the second flexible body positioned in the slot of the wrist rehabilitation unit of the inventive rehabilitation platform. Figure 10 shows a representative side view of the second flexible body positioned under the hand on the inventive rehabilitation platform with fluid pumped into it.

[0061] Figure 11 shows a representative side view of the second flexible body positioned under the hand in the inventive rehabilitation platform, in which the wrist performs extension movement.

[0062] Figure 12 shows a representative side view of the second flexible body positioned under the hand in the inventive rehabilitation platform, where the wrist performs flexion movement.

[0063] Figure 13 shows a representative top view of the third flexible bodies positioned on either side of the hand on the inventive rehabilitation platform, performing ulnar deviation movement of the wrist.

[0064] Figure 14 shows a representative top view of the third flexible bodies positioned on either side of the hand on the inventive rehabilitation platform, performing a radial deviation movement of the wrist.

[0065] DETAILED DESCRIPTION OF THE INVENTION

[0066] In this detailed description, the inventive rehabilitation platform (1) is described solely through examples that have no limiting effect, for a better understanding of the subject matter.

[0067] The rehabilitation platform (1) is used in the treatment process of patients who have partially or completely lost the motor functions of the hand (E), fingers and wrist. It comprises at least one finger rehabilitation unit (30) for providing finger exercises. It also comprises at least one wrist rehabilitation unit (20) to perform wrist exercises.

[0068] The rehabilitation platform (1) comprises at least one main unit (10) that performs hand (E) and wrist exercises on a single device. The said finger rehabilitation unit (30) and the said wrist rehabilitation unit (20) are provided on the main unit (10). The main unit (11) is essentially the structure in which the patient positions the arm for rehabilitation, as well as the said members in the rehabilitation platform (1), and ensures that they are in the proper position for the treatment to be executed correctly. The main unit (10) comprises at least one positioning area (12) in which the patient can place his arm. The said positioning area (12) is located on the upper surface (11). The positioning area (12) is essentially a groove formed in the said upper surface (11), which conforms to the form of the arm. In the preferred embodiment, the main unit (10) is curved when viewed from the rear (see Figure 3).

[0069] The finger rehabilitation unit (30) includes at least one motion transmission member (31) that transfers motion (force) to the fingers. The finger rehabilitation unit (30) is located on the outside of the hand, that is, on the side opposite of the palm. The said motion transmission member (35), when combined with the motion received from at least one actuator (31), allows the fingers to perform flexion and extension movements. The motion transmission member (31) is primarily a tendon. This may be a metal wire. In order to transfer the said force to the hand (E), the motion transmission member (31) is connected to the patient's glove (G) via at least one gripper (32). The size of the said glove (G) can fit hands of various sizes. The glove (G) has an elastic band in the joint areas and can thus be adjusted based on size. The preferred embodiment of the invention includes a gripper (32) for each finger. A motion transmission member (31) applies force to each finger as well.

[0070] The gripper (32) is located at the joint of each finger. In other words, the thumb has two grippers (32), while the other four fingers have three grippers (32). The motion transmission member (31) passes through the holes in the grippers (32), making the grippers' (32) positions the center of rotation. To clarify, by applying force to the tendon passing the gripper (32) and since the grippers (32) are located at the joints, the fingers can bend at the grippers' (32) locations.

[0071] In order to enable the motion transmission member (31) to apply its said force, it is connected at least at one end with the drive member (35). The transfer member (351) provides the said connection. Also, the said drive member (35) is a DC motor. By performing a rotational movement, the transfer member rotates, and the motion transmission member (31) wrapped around the transfer member (351) allows the fingers to be pulled and oscillated. It may also apply a driving force. Therefore, the fingers can move in both extension and flexion. In order to make it clearer, it can be said that as the motor rotates, so does the transfer member (351), which causes the tendons to move linearly. The finger rehabilitation unit (30) comprises at least one force dispenser (33). The force dispenser (33) ensures that the motion transmission member (31) is output to two motion transmission members (31) at a specific point on the hand, and that the transmitted force is consistent. Therefore, it is obvious that the gripper (32) should comprise a structure allowing the two tendons to pass through. This ensures that the force is distributed equally and evenly between the two tendons. The force dispenser (33) consists primarily of a single hole at one end through which the motion transmission member (31) enters and two holes at the other end through which the two motion transmission members (31) exit. In other embodiments, the force dispenser (33) could increase the number of motion transmission members (31) to more than two.

[0072] The preferred embodiment of the invention comprises independent drive members (35) for the thumb and the remaining four fingers (index, middle, ring, pinky). The position of these actuators (35) is critical for effective and precise treatment delivery.

[0073] The drive member (35) for the thumb is located on the first axis (I). The said first axis (I) is the thumb's natural axis of motion. The natural axis of motion refers to the direction along which the thumb extends when straight. Since the thumb moves on a different axis than the other fingers, positioning the drive member (35) along this axis ensures a more accurate transmission of motion. The first axis (I) is not limited to the direction of thumb movement; it can also be between the hand's two lateral surfaces (E). The motion transmission member (31) (tendon) runs along the thumb's extension axis and connects with the drive member (35) in this direction, or on the first axis (I). This connection aids in both the natural grasping movement of the thumb and the rehabilitation process. The drive member (35) is located in at least one first chamber (14) on the upper surface (11) of the main unit (10). Furthermore, the drive member (35) can move upward and downward within the first chamber (14). This ensures a safe working environment while also providing flexibility based on the thumb's range of motion.

[0074] For the remaining four fingers, a single drive member (35) is centered along their respective axes. The axis mentioned here is the second (II). The second axis (II) is located in the middle of the distance between the index and little fingers. However, it can also be placed between the hand's (E) two lateral surfaces. The second axis (II) can be parallel to the natural movement paths of the four fingers or have an angular range that corresponds to the fingers' natural gripping movements. Therefore, the drive member (35) is positioned in the center of the fingers' natural movement directions, ensuring that all fingers receive equal force. In order to be able to move the fingers correctly, said actuator (35) for the said four fingers must be in the proper position. The second axis (II) is adjustable in a wide range from the index finger to the little finger, allowing it to adapt to various hand structures and movement patterns.

[0075] The actuator (35), which activates the four fingers, is located in the middle of the fingers, making it difficult to place the arm on the device. As a solution to this problem, the actuator (35) is installed in at least one second chamber (13) that is pivotally coupled to the main unit (10). The second chamber (13) can rotate around the axis (around the first axis (I) or around the second axis (II) along which the hand (E) extends. When not in use, it can be moved upright to allow for more space when entering and exiting the device. When the arm is put into the device, the second chamber (13) rotates again, and the drive member (35) aligns with the fingers parallel to the upper surface (11). Furthermore, the drive member (13) in the second chamber can move up and down, affecting the distance between it and the upper surface (11).

[0076] Consequently, proper positioning and adjustment of the drive members (35) is critical for transmitting the appropriate torque to the fingers. The precise positioning of the drive members (35) for the thumb and the other four fingers improves the treatment process and makes it easier for the patient to use the device.

[0077] A motion transmission member (34), which is connected to the drive member (35) that provides drive to the four fingers, is equipped with at least one motion guiding unit (35) to ensure physiologically appropriate force transmission to each finger. This ensures that torque is efficiently transmitted to the fingers. The said motion guiding unit (34) duplicates one motion transmission member (31) from the drive member (35) into four motion transmission members (31) for four fingers.

[0078] In order to ensure the physiological naturality and freedom of movement of the fingers during this reproduction, the motion guiding unit (34) includes at least one guide (342) in at least one housing (341). Said housing (341) is essentially hollow and rectangular in shape. The guide (342) is a cylindrical structure that extends in the direction of the fingers (possibly at an angle). There are five guides (342). The motion guiding unit (34) comprises at least one sliding member (343) mounted on each guide and capable of reciprocating movement on the guide (342). The sliding member (343) is also linked to the motion transmission member (31). The central of the five sliding members (343) is not connected to the motion transmission member (31). As a result, one motion transmission member (31) enters the motion guiding unit (34) and exits the motion guiding unit (34) in such a way that four of the four sliding members (343) correspond to four fingers. In other words, one motion transmission member (31) enters the motion guiding unit (34), while four motion transmission members (31) exit.

[0079] The motion guiding unit (34) includes at least one coupler (344) that connects the sliding members (343). The said connector (344) has a flexible structure. This allows the sliding members (343) to slide at varying distances along the guide (342). That is, the connector (344) allows the sliding members (343) to move independently while limiting their movement. With this structure, the physiological movement of the fingers can be simulated.

[0080] The configuration described above allows the finger rehabilitation unit (30) to perform both flexion and extension movements. The finger rehabilitation unit (30) also allows the thumb to perform abduction, adduction, thumb opposition, flexion and extension movements. Thumb opposition refers to the thumb moving towards and opposing the other fingers. Another definition is the opposition of the thumb's palmar face to the palmar faces of the remaining fingers. This movement allows the tip of the thumb and the other fingertips to contact one another, which is essential for the hand's ability to perform a variety of functions.

[0081] In order to achieve this, the finger rehabilitation unit (30) comprises at least a first flexible body (36). The said first flexible body (36) is hollow. Thanks to its flexible features, it may expand and contract. The first flexible body (36) allows the fingers to move away from and close to each other, and allows abduction, adduction, and thumb opposition exercises. In order to achieve this, the first flexible body (36) is connected to a finger on at least one end. On the other end, it can be connected to another finger, palm, or a point on the hand, or it can be fixed somewhere other than the hand to perform its function. In the preferred embodiment of the invention, it is joined at one end by a finger and at the other end by another finger. The first flexible body (36) takes the form of a bellows. It may be made from a silicone rubber compound. In other cases, it may be made of paper, elastomer, neoprene, polyurethane, or nylon fabric coated materials. The first flexible body (36) has at least one conduit (361) that allows it to expand and contract, allowing at least one fluid to be introduced and discharged there. The said fluid is air, but in other embodiments, it may be another gas or a liquid like water. Consequently, air is conveyed into the first flexible body (36) through the duct (361) and the first flexible body (36) expands as air fills it. Therefore, as the first flexible body (36) between the two fingers expands, the distance between them widens. Similarly, as air is discharged from the duct (361), the first flexible body (36) contracts, reducing its volume and bringing the two fingers closer together. The conduit (361) is essentially a hole. Although the first flexible body (36) is positioned between the two fingers in the preferred configuration, it is connected to the finger at one end and the palm at the other, allowing for thumb opposition, extension, and flexion movements.

[0082] In order to allow for fluid movement, the first flexible body (36) may be connected to at least one fluid management member (40), allowing it to be inflated and vacuumed to the desired level. The said fluid management member (40) is essentially a double-acting pump. The fluid management member (40) is located on the main unit (10). The fluid management member (40) is bidirectional, allowing it to pump fluid (air in the preferred embodiment) into the first flexible body (36) as well as extract air by vacuuming. Therefore, air can be sent to the first flexible body (36) at the desired pressure. In this way, the first flexible body (36) expands and contracts, allowing for abduction and adduction (A-A) as well as opposition exercises. The fluid management member (40) can be connected to the first flexible housing (36) via at least one pipe (50).

[0083] In the preferred embodiment of the invention, the first flexible body (36) can be positioned between two adjacent fingers, or a single first flexible body (36) can be connected to more than two fingers, thereby opening and closing the gap between the fingers.

[0084] As a result, in addition to abduction, adduction, and opposition movement using the first flexible body (36), the finger rehabilitation unit (30) allows for flexion (inward bending) and extension (outward extension) of the fingers via tendons (31). The tendons (31) exert force during the extension movement, causing the fingers to actively extend outward. Flexion movement occurs when the tendons (31) exert force in the opposite direction (active flexion) or passively through the natural elasticity of the muscles and joints. The wrist rehabilitation unit (20) helps patients regain wrist function after a permanent loss of hand function. To accomplish this, the wrist rehabilitation unit (20) can perform flexion / extension (F-E) (volar-dorsal flexion) exercises, ulnar / radial (U-R) deviation exercises, and spasticity -related finger extension movements.

[0085] The wrist rehabilitation unit comprises at least one second flexible body (22). The said second flexible body (22) is hollow and can expand and contract due to its flexible nature. The second flexible body (22) performs wrist flexion / extension (F-E) exercises as well as finger extensions.

[0086] The wrist rehabilitation unit comprises at least one third flexible body (23). The third flexible body (23) enables the patient to practice ulnar / radial (U-R) deviation exercises. The preferred configuration includes a second flexible body (22) and two third flexible bodies (23). The second flexible body (22) is positioned beneath the hand (E), and the third flexible body (23) is positioned on either side of the hand (E); "below" refers to being positioned between the ground and the hand.

[0087] For achieving this, the main unit (10) has at least one slot (15). The slot (15) is essentially a rectangular cavity within the main unit (10). A second flexible body (22) is inserted through the slot (15). The second flexible body (22), located below the hand (E), performs flexion / extension movements of the wrist and also extension movements of the fingers with spasticity. Since the patient already has spasticity to return to a constant flexion state, the second flexible body (2) also performs the extension movement. When the second flexible body (22) is connected to the slot (15), a plate can be placed between the two to adjust the height of the second flexible body (22). Thus, the need to replicate the second flexible body (22) is eliminated by inserting a different sized plate into the slot. The second flexible body (22) is also connected to the slot (15) so that it is able to be detached. This allows the patient to practice finger extension and flexion exercises while grasping various objects. In other words, because of the space created by the removal of the lower flexible body, the patient can hold various objects and perform flexion and extension movements with them using the finger rehabilitation unit (30). Therefore, in addition to being able to perform all movements simultaneously, the components can be removed, allowing for individual movements. Both the second flexible body (22) and the third flexible body (23) are made up of at least two materials with different elasticities in order to adapt to changing wrist structures and maintain contact with the wrist during exercise. To clarify, it can be said that the different parts of the hand move differently as the wrist moves. For example, movement near the wrist is limited and the range of motion is small. However, as you get closer to the fingertips, the amount of movement of the hand increases, indicating a wider range of motion (because the wrist is the pivot point). This situation may prevent the proper execution of wrist exercises. Therefore, to support this movement, the second flexible body (22) and the third flexible body (23) are made of at least two materials with varying degrees of elasticity. The first area (25) and the second area (26) represent the parts formed by these materials. In other words, the first area (25), which has less elasticity, expands less through the first area (25), whereas the second area (26), which is closer to the fingertips, has more elasticity than the first area (25), thereby increasing its expansion. This allows for adaptation to different wrists, eliminating the need to calibrate for each patient individually. It is also obvious that the first flexible body (22) and the second flexible body (23) may include regions other than the first body (25) and second body (26) and 26 with varying elasticity.

[0088] The second flexible body (22) and the third flexible body (23) each have at least one conduit (361) through which fluid can be delivered, allowing them to expand and contract. The said fluid is air. In alternative embodiments, however, it may be a different gas or liquid, such as water. Consequently, air is conveyed into the second flexible body (22) through the duct (361) and the second flexible body (22) expands as air fills it. Therefore, the second flexible body (22) and the third flexible body (23), which can be positioned below and on either side of the hand, allow for flexion / extension (F-E) and ulnar / radial (U-R) deviation exercises to be performed while expanding. Similarly, as air is evacuated from the canal, the second and third flexible bodies (22, 23) contract, allowing the wrist to move in the opposite direction.

[0089] In order to ensure fluid movement, i.e. that the second and third flexible bodies (22) and (23) are inflated and vacuumed to the desired amount, they are connected to at least one other fluid management member (40). The fluid management member (40) is the same as mentioned for the first flexible body (36). This allows the second and third flexible bodies to expand and contract. At least one conduit (50) can connect the fluid management member (40) to the second flexible body (22) and the third flexible body (23). The first flexible body (2) is connected to at least one valve. At least one valve is connected to the second flexible body (22) and the third flexible body (23). Said valves allow you to control the inflation / vacuuming of the desired flexible bodies. Thus, the degree of movement of each flexible body can be controlled.

[0090] In order to allow the hand (E) to be positioned on either side, the main unit (10) has at least two frames (21) on the upper surface (11). The said frame is a hollow rectangular structure with at least one open surface, and it houses the third flexible body (23). The said third flexible body (23) can thus expand and contract from the open surface to the patient's hand (E). The frame (21) can be positioned laterally using the motor unit included in it until it comes into contact with the person's wrist. To clarify, it can be said that the wrist rehabilitation unit (20) can move the frame (21) and the third flexible body (23) towards the hand (E) using at least one actuator. The said actuator may be an electromechanical actuator. By including at least one sensor (27) (tactile sensors) that can be placed on the surface of the third flexible body (23), the moment of contact of the third flexible body (23) with the wrist can be automatically determined. This eliminates the need for manual adjustment, which involves removing a fastener, reattaching it in the proper form, and adjusting it to the wrist. However, in an alternative embodiment, the frames (21) may be connected to a number of holes in the upper surface (11) of the main unit, allowing them to be moved closer and further away from the patient's wrist. Furthermore, at least one adjustment mechanism (16) is installed on the upper surface (11) to allow the frames to be angled. The adjustment mechanism (16) is essentially a groove. The frame can be engaged with the adjustment mechanism (16) via a pin, allowing you to adjust the angle of the frame by rotating around the point of engagement. Therefore, it is possible to adjust according to the patient's hand (E).

[0091] The third flexible bodies (23) on each side of the hand perform complementary movements during ulnar / radial (U-R) movements. That is, the third flexible body (23) on one side expands and the third flexible body (23) on the opposite side contracts. In this way, the third flexible bodies (22), which are constantly in contact with the hand, support but do not restrict the movement.

[0092] In order to achieve this, the wrist rehabilitation unit (20) includes at least one sensor (27). The said sensor (27) controls the movement by adjusting the pressure. The sensor (27) is essentially a pressure sensor (touch sensor, haptic sensor), and when the third flexible body (23) on one side of the hand (E) contacts the patient's hand, the pressure stops (when the desired pressure is reached), but the sensor remains active and continues to push the hand (E). After the wrist movement, the third flexible body (23) on the opposite side of the hand (E) becomes active, while the third flexible body (23) remains inactive, and the hand (E) is pushed to the other side, i.e. contracted. The term "active" here, refers to the third flexible body (23) expanding, or filling with air, whereas "passive" refers to it contracting, or releasing the air.

[0093] The third flexible bodies (23) on each side of the hand are connected to at least one valve to control the flow required to perform said movement. That is, when the third flexible body (23) on one side expands and pushes the hand (E), the third flexible body (23) on the opposite side contracts to support the movement. When the ulnar movement is complete, the air in the expanding third flexible body (23) is transferred to the contracted third flexible body (23) via the valve, allowing for radial movement of the hand (E). When the ulnar movement is completed, the air in the expanded third flexible body (23) is transferred through the valve to the contracted second flexible body (32), thus ensuring radial movement of the hand.

[0094] In the preferred embodiment, the third flexible bodies (23) on either side of the hand (E) are connected to the two valves. In this way, the air transmission between the third flexible bodies (23) is optimized and a regular expansion and contraction is achieved, improving the quality of rehabilitation.

[0095] The monitor may comprise at least one controller (not shown in the figures) installed to monitor, manage, and direct the fluid management member (40). The controller allows the first flexible body (36) and the second flexible body (22) and the third flexible body (23) to be inflated or vacuumed in desired amounts using software integrated into the microprocessor circuit. That is, it controls the air pump / vacuum to regulate the air inlet and outlet processes in order to achieve specific pressure levels.

[0096] The controller starts or stops the pumping or vacuuming process based on the target pressures that have been set. As a result, precise and controlled movements of the flexible bodies throughout the rehabilitation process are ensured. The wrist rehabilitation unit (20) comprises at least one holder (24). The said holder (25) ensures that the wrist remains fixed on the second flexible body (22) during extension and flexion movements. The holder (24) is a belt attached to the lower second flexible body (22).

[0097] Therefore, the wrist rehabilitation unit (20) ensures proper and consistent wrist movements throughout the rehabilitation process. Furthermore, since the second flexible body (22) and the third flexible body (23) are made of materials with different elasticities it can adapt to each patient's wrist structure and eliminates the need for individualized calibration. This improves the effectiveness of the rehabilitation process, allows for more patient-specific adaptations, and reduces the physiotherapist's workload.

[0098] In light of all this, the invention operates as follows: The rehabilitation platform (1) improves treatment outcomes by combining finger and wrist exercises in a single device for patients who have lost hand (E) and wrist movement functions. The first chamber (14) is opened, allowing the patient to place his or her arm. The patient puts on the glove (G) by placing the arm in the positioning area (12) and then on the finger rehabilitation unit (30), which is attached to the glove (G) via the gripper (32). The drive members (35) in the first chamber (14) and second chamber (13) provide flexion and extension movements via the motion transmission member (31), which is wound on the transfer member (351). Adduction and abduction movements of the fingers are provided as a result of the first flexible body (36) being expanded and contracted by air delivered to the first flexible body (36) and connected to the fingers by the fluid management member (40) and vacuuming of the air. Furthermore, by positioning the first flexible body (36) between the thumb and the hand palm, the thumb can be moved in the opposite direction.

[0099] When wrist exercises are requested, the wrist rehabilitation unit (20) is used. The second flexible body (22), third flexible body (23) and fluid management members (40) may be used to perform flexion, extension, and ulnar / radial deviation of the wrist, as well as the fingers' extension movements. The second flexible body (22), which expands with the air transmitted to it, expands in different amounts in different regions, namely in the first region (25) and the second region (26), due to the fact that they are made of materials with different elasticity, allowing the patient to perform the exercises properly by adapting to the patient's wrist. Likewise, the third flexible body (23) is composed of at least two different materials with different elasticity, allowing it to expand and contract in accordance with the wrist via fluid transmission.

[0100] Therefore, the finger rehabilitation unit (30) and the wrist rehabilitation unit (20) provide patients with comprehensive and efficient rehabilitation for regaining hand (E) and wrist function. The rehabilitation platform (1) adapts to each patient's physiological needs, eliminating the need for individual calibration and reducing the need for physiotherapist intervention. The ability to adapt to any size hand or wrist makes the rehabilitation process more effective and customizable. Furthermore, by allowing each of the said movements to be performed together or separately, and making it personalized for each type of patient, the usage area is significantly expanded.

[0101] The scope of protection of the invention is set out in the appended claims and cannot be strictly limited to what is described in this detailed description for illustrative purposes. This is because it is clear that a person skilled in the art can come up with similar constructions in light of the foregoing without deviating from the main theme of the invention.

[0102] REFERENCE NUMBERS GIVEN IN THE FIGURES

[0103] 1 Rehabilitation Platform

[0104] 10 Main Unit

[0105] 11 Upper Surface

[0106] 12 Positioning Area

[0107] 13 Second Chamber

[0108] 14 First Chamber

[0109] 15 Slot

[0110] 16 Adjustment Mechanism

[0111] 20 Wrist Rehabilitation Unit

[0112] 21 Frame

[0113] 22 Second Flexible Body

[0114] 3 Third Flexible Body

[0115] 24 Holder

[0116] 25 First Area

[0117] 26 Second Area

[0118] 27 Sensor

[0119] 30 Finger Rehabilitation Unit

[0120] 31 Motion Transmission Member

[0121] 32 Phalanx Connection Unit

[0122] 33 Force Dispenser

[0123] 34 Motion Guiding Unit

[0124] 341 Housing

[0125] 342 Guide

[0126] 343 Sliding Member

[0127] 344 Connector

[0128] 35 Driving Member

[0129] 191 Transfer Member

[0130] 36 First Flexible Body

[0131] 361 Conduit

[0132] 40 Fluid Management Member

[0133] 50 Pipe

[0134] (E) Hand (G) Glove

[0135] (I) First Axis

[0136] (II) Second Axis

Claims

CLAIMS1. The invention is a rehabilitation platform (1) for hand and wrist rehabilitation of patients; characterized in that it comprises at least one main unit (10) with at least one positioning area (12) to enable the patient to position the arm, at least one finger rehabilitation unit (30) to enable the patient to perform finger exercises, to perform hand and wrist rehabilitation in a single device, said finger rehabilitation unit (30) comprising at least one motion transmission member (31) that applies force to the fingers, comprising at least one drive member (35) providing drive to the said motion transmission member (31), comprising at least one wrist rehabilitation unit (20) with to allow the patient to perform wrist exercises.

2. The rehabilitation platform (1) according to Claim 1, characterized in that it comprises at least one actuating member (35) for performing flexion and extension movements of the thumb, said actuating member (35) is positioned on the first axis (I).

3. The rehabilitation platform (1) according to Claim 1 or 2, characterized in that it comprises at least one first chamber (14) in connection with the main unit (10), in which the drive member (35) for driving the thumb is positioned.

4. The rehabilitation platform (1) according to Claim 1, characterized in that it comprises at least one actuator (35) for performing flexion and extension movements of the index, middle, ring and pinky fingers, said actuator (35) being positioned on the second axis (II).

5. The rehabilitation platform (1) according to Claim 1 or 4, characterized in that it comprises at least one second chamber (13) in connection with the main unit (10) in which the drive member (35) for driving the index, middle, ring and little fingers is positioned.

6. The rehabilitation platform (1) according to Claim 5, characterized in that said second chamber (13) is connected to the main unit (10) so as to be rotatable about the second axis (II).

7. The rehabilitation platform (1) according to Claim 1, characterized in that said finger rehabilitation unit (30) comprises a motion transmission member (31) and at least one Phalanx Connection Unit (32) for connecting a glove (G) worn by the patient.

8. The rehabilitation platform (1) according to Claim 1, characterized in that the finger rehabilitation unit (30) comprises at least one force dispenser (33).

9. The rehabilitation platform (1) according to Claim 1, characterized in that it comprises at least one transfer member (351) for coupling the drive member (35) with the motion transmission member (31).

10. The rehabilitation platform (1) according to Claim 1, characterized in that the drive member (35) is a DC motor.

11. The rehabilitation platform (1) according to Claim 1, characterized in that said finger rehabilitation unit (30) comprises a motion guiding unit (34).

12. The rehabilitation platform (1) according to Claim 11, characterized in that said motion guiding unit (34) comprises at least one guide (342) and at least one sliding member (343) movable on said guide (342).

13. The rehabilitation platform (1) according to Claim 12, characterized in that said sliding members (343) are five in number and comprise at least one connector (344) for connecting said sliding members (343) with each other.

14. The rehabilitation platform (1) according to Claim 1, characterized in that the finger rehabilitation unit (30) comprises at least one first flexible body (36) that, when connected to at least one finger, expands when at least one fluid is introduced and contracts when fluid is discharged, allowing the fingers to perform thumb abduction, adduction, and opposition movements.

15. The rehabilitation platform (1) according to Claim 14, characterized in that the said first flexible body (36) is in the form of a bellows.

16. The rehabilitation platform (1) according to Claim 1, characterized in that it comprises at least a third flexible body (23), which expands when at least one fluid is delivered therein and contracts when fluid is discharged therefrom, to enable the wrist rehabilitation unit (20) to perform ulnar / radial movements.

17. The rehabilitation platform (1) according to Claim 1, characterized in that said wrist rehabilitation unit (20) comprises at least a second flexible body (22) that expands by the delivery of at least one fluid into it and contracts by the discharge of fluid from it, allowing the wrist to perform flexion / extension and the finger to perform extension exercises.

18. The rehabilitation platform (1) according to Claim 16, characterized in that said second flexible body (22) is formed of at least two materials having different elasticity.

19. The rehabilitation platform (1) according to Claim 16, characterized in that said third flexible body (23) is formed of at least two materials having different elasticity.

20. The rehabilitation platform (1) according to Claim 14, characterized in that the said first flexible body (36) comprises at least one conduit.

21. The rehabilitation platform (1) according to Claim 16, characterized in that the said second flexible body (22) comprises at least one conduit.

22. The rehabilitation platform (1) according to Claim 16, characterized in that the said third flexible body (23) comprises at least one conduit.

23. The rehabilitation platform (1) according to Claim 14, characterized in that it is connected to a first flexible body (36) is coupled to at least one fluid management member (40) for delivering fluid to the first flexible body (36) at a desired pressure and for vacuuming the delivered fluid.

24. The rehabilitation platform (1) according to Claim 16, characterized in that it is connected to a second flexible body (22) is coupled to at least one fluid managementmember (40) for delivering fluid to the second flexible body (22) at a desired pressure and for vacuuming the delivered fluid.

25. The rehabilitation platform (1) according to Claim 16, characterized in that it is connected to a third flexible body (23) is coupled to at least one fluid management member (40) for delivering fluid to the third flexible body (23) at a desired pressure and for vacuuming the delivered fluid.

26. The rehabilitation platform (1) according to Claim 20 or 21, characterized in that said fluid management member (40) is a double-acting pump.

27. The rehabilitation platform (1) according to Claim 14, characterized in that said first flexible body (36) comprises at least one conduit (50) for connecting with the said fluid management member (40).

28. The rehabilitation platform (1) according to Claim 16, characterized in that the second flexible body (22) comprises at least one conduit (50) for coupling with the fluid management member (40).

29. The rehabilitation platform (1) according to Claim 16, characterized in that the third flexible body (23) comprises at least one conduit (50) for coupling with the fluid management member (40).

30. The rehabilitation platform (1) according to Claim 16, characterized in that the third flexible body (23) comprises two, positioned on each side of the hand.

31. The rehabilitation platform (1) according to Claim 1, characterized in that the main unit (10) comprises at least one slot (15).

32. The rehabilitation platform (1) according to Claim 16 or 26, characterized in that the second flexible body (22) is positioned in said slot (15).

33. The rehabilitation platform (1) according to Claim 1, characterized in that the upper surface (11) of the main unit (10) comprises at least two frames (21).

34. The rehabilitation platform (1) according to Claim 16 or 28, characterized in that the third flexible bodies (23) are positioned within the frames (21).

35. The rehabilitation platform (1) according to Claim 1, characterized in that said wrist rehabilitation unit (20) comprises at least one stabilizer (24) for stabilizing the hand (E).

36. The rehabilitation platform (1) according to Claim 1, characterized in that the wrist rehabilitation unit comprises at least one force sensor (27).

37. The rehabilitation platform (1) according to Claim 35, characterized in that said sensor (27) is a tactile sensor.

38. The rehabilitation platform (1) according to Claim 16, 32 or 35, characterized in that it comprises at least one actuator which, by positioning the sensor (27) on the third flexible body (23), causes the frame (21) to move towards and away from the hand (E) in order to automatically adjust the third flexible body (23) to the wrist of the patient.

39. The rehabilitation platform (1) according to Claim 37, characterized in that said actuator is an electromechanical actuator.

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