16 results about "Shoulder joint movement" patented technology

The invention discloses an upper limb shoulder joint accurate evaluation and rehabilitation training system and method based on a remote sensor, and is applied to the technical field of rehabilitation medical engineering.The method comprises the steps that original multi-modal data is preprocessed, shoulder joint motion data and voice data are processed in combination with baseline data, and a multi-modal standardized data set is generated; multi-dimensional feature extraction is carried out on the multi-modal standardized data set to generate a feature set, and the feature set comprises time domain features, frequency domain features, nonlinear dynamic features and voice features; on the basis of the feature set, a comprehensive evaluation score of the shoulder joint function is calculated by using a linear and nonlinear combined comprehensive scoring model; inputting the feature set and the comprehensive evaluation score into a pre-trained LSTM time sequence prediction model, predicting a rehabilitation trend and abnormal fluctuation, and generating future score change and rehabilitation inflection point early warning information; and based on the comprehensive evaluation score, the prediction result and multi-modal feature fusion analysis, generating rehabilitation training feedback and adjustment information.

The invention discloses an artificial shoulder joint prosthesis design method and system, and the method comprises the steps: collecting the motion trail and muscle activation state of a shoulder joint in different motion modes, separating the feature frequency and amplitude of the shoulder joint motion, and extracting a dynamic motion feature set of the shoulder joint; inputting the dynamic motion feature set into a contact mechanical model based on a discrete element method, and simulating contact force and friction behaviors between the shoulder joint prosthesis and the skeleton to obtain contact mechanical characteristics of the prosthesis and the skeleton; and according to the contact mechanical characteristics, generating an initial structure of the prosthesis by using a topological optimization algorithm based on a generative adversarial network, generating a prosthesis topological structure with gradient material distribution, and obtaining an optimized prosthesis design scheme. By utilizing the embodiment of the invention, a prosthesis design scheme with gradient material distribution can be generated, the weight of the prosthesis is reduced, and the strength and durability of the prosthesis are enhanced.

The invention discloses an upper limb rehabilitation robot which comprises a shoulder joint movement module, a large arm linear length adjusting module, a double-arm width adjusting module, an arm restraining assembly, a wrist joint movement module, a rope driving module, a Bowden rope, a robot supporting frame, an elbow joint movement module and a bamboo joint lifting mechanism. The double-arm width adjusting module is installed at the upper end of the robot supporting frame. The shoulder joint movement module is fixed on the double-arm width adjusting module; the large arm linear length adjusting module is connected with the shoulder joint movement module and the elbow joint movement module; the elbow joint movement module is connected with the wrist joint movement module; the arm restraining assembly is installed on the large arm linear length adjusting module. The rope driving module is fixed to the back face of the robot supporting frame and connected with the elbow joint movement module and the wrist joint movement module. The bamboo joint lifting mechanism is installed at the front end of the robot supporting frame. The robot has driving efficiency, movement flexibility, adaptation diversity and training collaboration, and the rehabilitation effect can be improved.

The application discloses a shoulder movement estimation method based on glenohumeral joint positioning and electromyography cooperation, and relates to the technical field of robot-assisted rehabilitation, and comprises the following steps: collecting surface electromyography signals and kinematics data; according to the surface electromyography signals and the kinematics data, solving a dynamic glenohumeral joint position in real time by minimizing distance residual based on anatomical constraints and step residual for ensuring continuity; determining muscle activation according to the surface electromyography signals; the muscle activation constitutes a muscle activation matrix; decomposing the muscle activation matrix into a muscle cooperation matrix and a command matrix; and estimating an upper arm angle according to elements in the command matrix. The method can realize high-precision, low-cost and long-term stable estimation of shoulder joint movement, and provides reliable technical support for robot-assisted rehabilitation.

The invention provides a scheme planning method and device in a shoulder joint replacement scene, equipment, a medium and a product. The method comprises the following steps: acquiring an upper limb scanning image of a target object and a shoulder joint motion image of the target object; the shoulder joint motion image is used for recording the motion process of the healthy side shoulder joint under the physiological posture; identifying the motion range of the healthy shoulder joint based on the shoulder joint motion image and the upper limb scanning image; the displacement planning scheme of the affected side shoulder joint is dynamically adjusted based on the motion range of the unhealthy side shoulder joint until a target displacement planning scheme of the affected side shoulder joint is obtained, and the displacement planning scheme of the affected side shoulder joint corresponds to the fact that the motion range of the affected side shoulder joint after displacement is matched with the motion range of the unhealthy side shoulder joint. The scheme planning under the individualized shoulder joint replacement scene is achieved, it is ensured that the shoulder joint on the affected side can reach the activity range close to that on the uninjured side after replacement, the individualized level of shoulder joint replacement operation planning is improved, and the prognosis effect of a patient is optimized.

The present disclosure provides a humeral head-tuberosity adapter and its installation method, comprising an adapter body, the adapter body is formed with a tuberosity side surface and a bone side surface; the bone side surface is provided with a fixing column extending away from the adapter body; the inner concave arc-shaped bone side surface of the adapter body is combined with the humeral head bone surface, which can expand the load transmission area and disperse the local compressive stress; the outer convex arc-shaped tuberosity side surface forms a sliding support interface with the tuberosity surface, so that the contact load generated by the shoulder joint movement is transmitted along the arc surface, which is beneficial to limit the upward movement of the humeral head and maintain the distance between the tuberosity and the humeral head; the fixing column is inserted into the humeral head to form axial anchoring, and the triangular anti-rotation piece extends from the outer periphery of the fixing column to the bone side surface, which can transmit the tangential force and eccentric load to the humeral head; the adapter body, the fixing column and the anti-rotation piece are integrally formed, which reduces the risk of loosening or breaking at the connection position, so as to balance the implant stability and long-term support effect.

The present application relates to the field of exoskeleton, provide a kind of to realize bilateral shoulder joint motion coupling and mutual gravity compensation rehabilitation exoskeleton, including two scalable exoskeleton structural members and cable pulley system, cable pulley system is installed on two scalable exoskeleton structural members, the scalable exoskeleton structural member includes arm support structure, upper arm rod, upper arm connecting structure, vertically nested tubular member, horizontally nested tubular member and exoskeleton rack.The present application utilizes cable drive to couple together the pitch motion and yaw motion of bilateral shoulder joint, uses one side upper limb as the counterweight of another side upper limb to realize mutual gravity compensation, since it is unnecessary to introduce any external energy storage element and accessory mechanism, the present exoskeleton satisfies compact and lightweight design requirements.

The invention discloses a shoulder motion estimation method based on glenohumeral joint positioning and myoelectricity cooperation, and relates to the technical field of robot-assisted rehabilitation, and the method comprises the steps: collecting a surface electromyogram signal and kinematics data; according to the surface electromyogram signal and the kinematics data, the dynamic glenohumeral joint position is solved in real time by minimizing a distance residual error based on anatomical constraint and a step residual error used for ensuring continuity; determining muscle activation from the surface electromyogram signal; the muscle activation forms a muscle activation matrix; decomposing the muscle activation matrix into a muscle cooperation matrix and a command matrix; an upper arm angle is estimated from elements in the command matrix. According to the method, high-precision, low-cost and long-term stable estimation of shoulder joint movement can be realized, and reliable technical support is provided for robot-assisted rehabilitation.

The invention discloses a rotator cuff injury postoperative rehabilitation evaluation method and device based on three-dimensional reconstruction and point cloud registration, and the method comprises the steps: collecting the three-dimensional point cloud data of the shoulders and upper limbs of a patient at preset time intervals through a sensor matrix, segmenting the three-dimensional point cloud data according to a region generation algorithm, and obtaining the point cloud data of a key region; a three-dimensional surface model of the point cloud data of the key area is established through a movement minimum curved surface reconstruction algorithm, key rehabilitation features are extracted from the three-dimensional surface model, and the key rehabilitation features comprise the movement range, the shoulder blade movement control ability and the attitude symmetry; and inputting the key rehabilitation features into the rotator cuff injury postoperative rehabilitation scoring model to obtain a rehabilitation evaluation result, so as to guide the patient to adjust the posture of shoulder joint movement according to the rehabilitation evaluation result. According to the method, the key rehabilitation features are input into the rotator cuff injury postoperative rehabilitation scoring model, so that the rehabilitation effect and efficiency after the rotator cuff injury operation are further improved.

The present invention relates to a shoulder training device for providing a rotational motion corresponding to the movement of a shoulder joint in response to various shoulder training modes and body size, the shoulder training device comprising: a support part provided between a first position for training the right shoulder of a trainee and a second position for training the left shoulder of the trainee; a horizontal driving arm rotatably connected to the support part; a connection part which has one end connected to the horizontal driving arm and rotates with the horizontal driving arm; a vertical driving arm rotatably connected to the other end of the connection part; and an upper limb fixing part provided on the vertical driving arm and fixed to a part of the upper limb of the trainee.

The invention discloses an actuator and configuration combined robot joint, which relates to the technical field of bionic robots and mainly comprises an electric positioning shaft, an air cylinder, a pneumatic motor, a pneumatic tendon, a lead screw system, a spring, a plate and a connecting piece. The electric positioning shaft directly drives the shoulder joint to move, the three sets of air cylinders drive the elbow joint to move, the air cylinder and rod piece combination drives the gripper to grab, the pneumatic tendon and the spring are connected in parallel to drive the waist joint to move, the pneumatic motor drives the hip joint to move, and the lead screw system, the pneumatic tendon combination, the pneumatic motor, the rod piece and the pneumatic tendon combination form antagonistic muscles. And knee joints and ankle joints are driven to move. An electric positioning shaft, an air cylinder, a pneumatic motor, a pneumatic tendon, a lead screw system and components are combined to drive the shoulder joint, the elbow joint, the paw, the waist joint, the hip joint, the knee joint and the ankle joint to move, and the function of completely simulating the joint movement of the human body is achieved.

The invention provides a monitoring and early warning shoulder pad for shoulder joint dislocation of a stroke hemiplegic patient, and relates to the technical field of medical rehabilitation devices, the shoulder pad comprises a shoulder pad main body, the shoulder pad main body comprises a body part and a cuff part which are connected; the at least two liquid metal flexible sensors are arranged at the positions, corresponding to the forward direction and the lateral direction of the shoulder joint, of the cuff part respectively and used for detecting strain signals generated when the arm swings; the liquid metal flexible sensor further comprises a sensing signal processing unit and an alarm unit. The sensing signal processing unit is used for receiving and processing signals output by the liquid metal flexible sensor. And the alarm unit sends out an acousto-optic and / or vibration early warning signal based on the processing result. According to the method, the frequency and amplitude data of shoulder joint movement can be captured in real time, the dislocation risk level is effectively and accurately judged, early warning is conducted in time, the real-time monitoring means of shoulder joint dislocation are enriched, the response time of risk identification is shortened, and a novel auxiliary means is provided for clinical rehabilitation treatment of shoulder joint dislocation after cerebral apoplexy.

The application provides a bionic mechanical arm based on three-parallel spherical joints, which comprises a base, a large arm and a small arm, a shoulder joint movement block and a shoulder joint driving mechanism, the shoulder joint driving mechanism is installed on the base, three degrees of freedom movement on a spherical surface is realized by driving the shoulder joint movement block through the shoulder joint driving mechanism, and the rear end of the large arm is fixedly connected to the shoulder joint movement block; a wrist joint movement block and a wrist joint driving mechanism, the wrist joint driving mechanism is installed on the front end of the small arm, three degrees of freedom movement on a spherical surface is realized by driving the wrist joint movement block through the wrist joint driving mechanism. The application has the advantages that: the weight of the movement part of the mechanical arm is reduced while ensuring that the shoulder joint and the wrist joint complete three degrees of freedom movement on a spherical surface, so that the rapid action of the joint can be realized, and a greater effective payload density is obtained.

The utility model belongs to the technical field of rehabilitation robots, and provides an exoskeleton type upper limb rehabilitation robot which comprises a main body module, a big arm module and a small arm module, the main body module comprises a robot base, a supporting part and a shoulder joint movement mechanism, and the shoulder joint movement mechanism is supported on the ground through the main body part and achieves lifting control; the big arm and the small arm are based on the shape of an arm and belong to a linear mechanism, and the big arm module is connected with the main body module to realize fixation and rotation of the big arm; the small arm module is connected with the large arm module and used for driving the elbow joint to rotate inwards / outwards and bend / stretch and the shoulder joint to rotate inwards / outwards. According to the exoskeleton type upper limb rehabilitation robot, through reasonable and compact motor arrangement, basic requirements can be met, the overall structure of the robot is more compact, the size is smaller, and the requirements of actual application scenes are met.

The invention relates to the technical field of medical rehabilitation training equipment, and discloses a shoulder joint movement bionic rehabilitation training device which comprises a base, and a height adjusting mechanism, a shoulder distance compensation mechanism and a big arm adjusting mechanism are arranged on the base; the height adjusting mechanism comprises a first lead screw shaft and a lead screw sleeve, a supporting rod is installed on the height adjusting mechanism, a sliding sleeve is installed on the supporting rod in a sliding mode, a pulley is installed on the sliding sleeve, and a sliding rail is installed on the base. The shoulder distance compensation mechanism comprises a rotating shaft connected with a double-shaft motor, a second lead screw shaft and a moving rod; the big arm adjusting mechanism comprises a big arm assembly, a telescopic rod and a clamping assembly. The linkage proportion of the height and the shoulder distance is adjusted through a rotatable sliding rail in the height adjusting mechanism to adapt to patients with different heights and shoulder breadth proportions, the shoulder distance compensation mechanism drives a second lead screw shaft through a double-shaft motor to achieve independent adjustment of the shoulder distance, and the large arm adjusting mechanism is matched with a clamping assembly through a telescopic rod to adjust the shoulder distance. The length of the large arm assembly can be freely adjusted.

A method comprises applying, by one or more processors implemented in circuitry, a model to generate, based on patient-specific anatomy of a shoulder joint of a patient and based on parameters of a humeral prosthesis and a glenoid prosthesis, predicted motion data that describe a predicted range of motion of the shoulder joint of a patient; obtaining joint motion data from one or more sensors included in at least one of a humeral prosthesis or a glenoid prosthesis, wherein the humeral prosthesis is implanted on a humerus of the shoulder joint and the glenoid prosthesis is implanted on a. scapula of the shoulder joint, and. the joint motion data provides information regarding an actual range of motion of the shoulder joint during a test of a range of motion of the shoulder joint; and refining the model based on the joint motion data.