CN109011174B - Cloud intelligent rehabilitation physiotherapy system and passive bionic movement rehabilitation physiotherapy robot - Google Patents
Cloud intelligent rehabilitation physiotherapy system and passive bionic movement rehabilitation physiotherapy robot Download PDFInfo
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- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/02—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains adapted for simultaneous treatment with light, heat or drugs
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Abstract
The invention provides a cloud intelligent rehabilitation physiotherapy system and a passive bionic movement rehabilitation physiotherapy robot, wherein a healthy cloud platform in the system is communicated with the rehabilitation physiotherapy robot through a network and is used for providing big data analysis and support for physiotherapy patients and realizing butt joint with a medical social security system and remote diagnosis; the rehabilitation physiotherapy robot is used for providing magnetotherapy, thermotherapy, massage, fumigation and passive bionic movement therapy for physiotherapy patients. The bionic massage device is based on the bionic design, so that the human body can perform bionic passive movement on joints and muscles of the human body while warming and massaging the acupoints, thereby avoiding the influence of gravity and pain caused by muscle exertion during movement, and forming a novel therapy of head low position, painless, relaxation and passive aerobic movement in the treatment process; meanwhile, the device is not limited by individual physique, and even if a person cannot walk, the quadriplegia can easily exercise and treat, so that the self-healing function of the human body is gradually awakened.
Description
Technical Field
The invention belongs to the field of rehabilitation physiotherapy instruments, and particularly relates to a cloud intelligent rehabilitation physiotherapy system and a passive bionic movement rehabilitation physiotherapy robot.
Background
Along with the deepening of the civilization degree of society, the life rhythm of people is faster and faster, the working time is longer and longer, the time of sports and body building is shorter and shorter, and bad working habits such as long-time fixed postures and irregular diet can be easily developed by long-time work. Meanwhile, the progress of social science and technology makes people spend more time through televisions, computers, palm intelligent equipment and the like, and the problems of environmental pollution are increased, so that sub-health people are expanded continuously, difficult and complicated diseases are various, especially neck, shoulder, waist and leg diseases become common diseases of middle-aged and elderly people, 82% of middle-aged and elderly people have neck, shoulder, waist and leg diseases with different degrees according to investigation of related departments, the influence on life and pain is as much as 35%, the current medical system is fashionable, and the conventional treatment method has very little effect.
The disease prevention, treatment and health care are gradually valued by people, the treatment of the disease is also gradually fashionable, and the pain in the treatment process is reduced and is higher in the appeal of patients. How to treat diseases happily and comfortably becomes the expectations and dreams of all patients.
In the prior art, a great number of rehabilitation physiotherapy equipment aiming at a certain disease or hidden danger of the disease, such as a magnetic therapy pad for dredging channels and collaterals and an infrared physiotherapy pad, have appeared; massage chairs, massage beds, rocking machines, rocking beds and the like for massage of parts are mostly physiotherapy equipment with single function. The human body is a complex ecological balance body of the comprehensive system, the complex meridian system of the human body cannot be actually dredged by physiotherapy with a single function, and in a certain situation, larger stasis is formed when the vast majority of other systems are not dredged locally. The internal diseases can not be treated by external treatment without the massage function of the acupuncture points corresponding to the internal organs, and comprehensive rehabilitation treatment equipment is not available.
Disclosure of Invention
The invention aims to solve the technical problem of providing a cloud intelligent human bionic passive motion rehabilitation physiotherapy robot which is used for solving the problem that no comprehensive treatment physiotherapy robot exists in the prior art.
In order to solve the technical problems, an embodiment of the present invention provides a cloud intelligent rehabilitation physiotherapy robot system, which includes: health cloud platform, passive bionic motion rehabilitation physiotherapy robot; wherein,,
the health cloud platform is communicated with the rehabilitation physiotherapy robot through a network and is used for providing big data analysis and support for physiotherapy patients and realizing docking with a medical and medical insurance system and remote diagnosis;
the rehabilitation physiotherapy robot is used for providing magnetotherapy, thermotherapy, massage, medicine fumigation and passive bionic aerobic exercise treatment for physiotherapy patients.
Further, the rehabilitation physiotherapy robot includes: the system comprises a computer control subsystem, a motor control and servo subsystem, a motion execution mechanical subsystem, a heating subsystem and a sensor monitoring control subsystem;
the computer control subsystem is connected with the motor control and servo subsystem and the sensor monitoring control subsystem and is used for receiving the feedback result of the sensor monitoring control subsystem and generating a command to control the motor control and servo subsystem according to the feedback result;
the sensor monitoring control subsystem is connected with the heating subsystem and comprises a sensor device, wherein the sensor device is used for monitoring physical sign parameters of a human body in real time, uploading the monitored parameters to the computer control subsystem and controlling whether the heating subsystem works or not according to the temperature parameters;
the heating subsystem is connected with the operation execution mechanical subsystem and is used for heating or stopping heating the operation execution mechanical subsystem according to a command of the sensor monitoring control subsystem;
the motor control and servo subsystem is connected with the operation execution mechanical subsystem and is used for receiving the command of the computer control subsystem and driving the operation execution mechanical subsystem to complete the passive bionic aerobic movement of the human body;
the motion execution mechanical subsystem is used for completing the passive bionic aerobic motion process of the human body under the drive of the motor control and servo subsystem;
the health cloud platform is connected with the computer control subsystem through a network and provides an interface for the computer control subsystem to communicate with the database server and the cloud computing server.
Further, the rehabilitation physiotherapy robot further includes: the system comprises an audio and video playing subsystem, a VR vision cooperative treatment subsystem, a man-machine conversation subsystem, a treatment scheme setting and storing subsystem and a safety limit control subsystem.
Further, the run-performing mechanical subsystem includes: the far infrared magnetic therapeutic cervical vertebra pillow comprises a movable bed body, magnets, far infrared magnetic therapeutic spine combing massage balls, wear-resistant and static-free heating carbon fiber cloth belts, foot fixtures and far infrared thermal magnetic therapeutic medicinal fumigation belts with body fixing effects.
The embodiment of the invention also provides a rehabilitation physiotherapy robot, which comprises: the device comprises a box-shaped base, a movable bed body, a lifting motor spring, a computer control center, a transverse swinging motor, a first longitudinal swinging motor, a lifting motor, a second longitudinal swinging motor and a foot up-and-down moving motor; wherein,,
the universal wheel is arranged at the lower end of the box-shaped base, the computer control center is arranged at the center of the box-shaped base, the transverse swinging motor, the first longitudinal swinging motor, the lifting motor, the second longitudinal swinging motor and the foot up-and-down moving motor are arranged on the box-shaped base;
the lifting motor is connected with the lifting motor spring;
the computer control center is connected with the transverse swinging motor, the first longitudinal swinging motor, the lifting motor, the second longitudinal swinging motor and the foot up-and-down moving motor at the same time.
Further, the movable bed body includes: seven movable bed boards, far infrared heating devices uniformly arranged on the seven movable bed boards, magnets arranged according to the acupoints of a human body, and far infrared thermal magnetic therapy medicine fumigation belts arranged at the bedside and used for fixing the body; the first movable bed board corresponds to the head part and the upper part of the upper half body of a human body; the second movable bed board and the third movable bed board are bilaterally symmetrical and are used for the chest and waist of a human body; the fourth movable bed board and the fifth movable bed board correspond to the legs of the human body; the sixth movable bed board and the seventh movable bed board correspond to feet of a human body;
the device comprises a first movable bed board, a second movable bed board, a third movable bed board, a far infrared magnetic therapy cervical vertebra pillow, four longitudinally movable far infrared magnetic therapy spine combing massage balls, a wear-resistant and static-free carbon fiber cloth belt and a second movable bed board, wherein the first movable bed board is provided with the far infrared magnetic therapy cervical vertebra pillow; a foot fixer is respectively arranged on the sixth bed board and the seventh bed board; seven movable bed boards cooperate to complete the passive bionic movement of the physiotherapist.
Further, the transverse motor is connected with the first movable bed board and controls the transverse swing of the first movable bed board; the first longitudinal motor is connected with the four massage balls and controls the longitudinal swing of the four massage balls; the lifting motor and the lifting motor spring are connected with the first movable bed board, and the lifting and the tilting of the first movable bed board are controlled; the second longitudinal motor is connected with the fourth movable bed board and the fifth movable bed board, the foot up-down moving motor is connected with the sixth movable bed board and the seventh movable bed board, and the fourth, fifth, sixth and seventh movable bed boards jointly complete the passive human bionic running movement of the legs.
Further, the passive bionic motion to drive the hip joint to drive the whole body joint to do motion includes: movements of joints which are not bearing and are subject to external forces, spinal movements, hip movements, five-joint movements, head low position, 30-degree tilting inverted movements, pressureless movements and muscle-free movements.
Further, the passive bionic movement is performed in a thermal field, a magnetic field and a medical fumigation moxibustion environment, so that warm passive bionic aerobic movement is realized.
Further, the rehabilitation physiotherapy robot further includes: the control computer is connected to the network, and the display screen can be moved to the optimal visual range of the patient at will.
The technical scheme of the invention has the following beneficial effects:
in the scheme, the cloud intelligent human body passive bionic movement rehabilitation physiotherapy system and the rehabilitation physiotherapy robot are designed based on bionics, so that human bodies lie on the back to do bionic passive movement of human body joints and muscles, meanwhile Wen Reci moxibustion massage acupoints, passive bionic movement of spinal joints are achieved, the hip joints drive the whole body joints to do passive bionic movement, the pain caused by gravity influence and muscle exertion during movement is avoided, the movement effect is affected, the pain of treatment is increased, the treatment process is painless, a novel therapy of head low-position, painless and relaxation passive aerobic movement is formed, and the spinal acupoints are massaged through warm vibration to correspond to five viscera of human bodies: heart, liver, spleen, lung, kidney, six fu-organs: the stomach, the large intestine, the small intestine, the triple energizer, the bladder and the gall bladder are used for treating internal organ diseases; meanwhile, the device is not limited by individual physique, and even if a person cannot walk, the quadriplegia can easily exercise and treat, so that the self-healing function of the human body is gradually awakened. The patient can also select a proper treatment program according to the individual condition of the patient, and the computer can automatically adjust the temperature, the speed, the amplitude, the intensity, the time, the start and stop, and the like, and can memorize and store the self-defined treatment program.
Drawings
In order to more clearly illustrate the embodiments of the present invention and the prior art, the following description of the technical scheme of the present invention refers to the accompanying drawings, and it is obvious that other drawings can be obtained by those skilled in the art through the present drawings without the need of inventive work.
FIG. 1 is a schematic diagram of a rehabilitation physiotherapy system according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a rehabilitation robot according to a second embodiment of the present invention;
fig. 3 is a top view of a rehabilitation robot according to a second embodiment of the present invention.
Reference numerals illustrate:
1-a box-shaped base; 2-a movable bed body; 3-lifting motor springs; 4-a computer control center; 51-a transverse swing motor; 52-a first longitudinal swing motor; 53-lifting motor; 61-a second longitudinal swing motor; 62-a foot up and down movement motor (71, 72) -a universal wheel (71, 72); 20-a far infrared heating device; 21-a first movable bed board; 221-far infrared magnetic therapy cervical vertebra pillow; 22-a second movable bed board; 221-infrared magnetic therapy spine combing massage ball; 222-wear-resistant static-free heating carbon fiber cloth tape; 23-a third movable bed board; 24-fourth movable bed board; 25-a fifth movable bed board; 26-sixth movable bed board; 261-foot anchor; 27-seventh movable bed board; 28-magnetite; 29-far infrared thermo-magnetic therapeutic medicinal fumigation belt; 91-controlling a computer; 92-display.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
The invention aims to provide a cloud intelligent human body passive bionic movement rehabilitation physiotherapy robot, which enables people to recover the body under the conditions of easiness, comfort and happiness, improves sub-health state, recovers self functions, can treat various diseases without pain, and enables people to enjoy the treatment process and result.
The invention adopts the principle of bionics, integrates far infrared thermal therapy, permanent magnet magnetic therapy, traditional Chinese medicine fumigation (moxibustion), natural relaxation and no-bearing bionic movement under the action of no muscle force, massage and massage, and adopts the traditional Chinese medicine method of warming channels and dredging collaterals, so that a patient can wake up gradually and recover the functions of the human body through natural therapy under the natural relaxation state to achieve the rehabilitation effect. The bionic movement is used for dredging the whole body channels and collaterals, and simultaneously, the spine acupuncture points are dredged through the spine to correspond to the viscera channels and collaterals, so that the effects of internal and external treatment, external treatment of internal diseases and whole body rehabilitation are achieved, and not only can patients of muscles and bones such as neck, shoulder, waist and leg be treated, but also viscera diseases can be treated through dredging of the corresponding channels and collaterals. The robot is controlled to operate through bioelectricity induction and limb inching induction by adopting different modes (manual, automatic and intelligent) of a touch screen computer, and is adjusted through man-machine conversation, video playing, temperature and motion curve setting. Cloud computing and big data technology are adopted to analyze and calculate to form working modes and treatment programs aiming at different symptoms of different individuals. Meanwhile, network remote analysis and diagnosis treatment are realized, the wearable equipment and a medical system database are connected, and a human health cloud archive is constructed.
The present invention will be described in further detail with reference to specific examples.
First embodiment
The embodiment provides a cloud intelligent human body passive bionic movement rehabilitation physiotherapy system. Fig. 1 is a schematic structural diagram of a rehabilitation physiotherapy system according to the embodiment. As shown in fig. 1, the rehabilitation physiotherapy system of the present embodiment includes: health cloud platform, rehabilitation physiotherapy robot; the health cloud platform is communicated with the rehabilitation physiotherapy robot through a network and is used for providing big data analysis and support for physiotherapy patients and realizing butt joint and remote diagnosis with a medical social security system; the rehabilitation physiotherapy robot is used for providing magnetotherapy, thermotherapy, massage, medicine fumigation and passive bionic movement treatment for physiotherapy patients.
In particular, the method comprises the steps of,
the health cloud platform is connected with the computer control subsystem through a network and provides an interface for the computer control subsystem to communicate with the database server and the cloud computing server;
the rehabilitation physiotherapy robot includes: the system comprises a computer control subsystem, a motor control and servo subsystem, a motion execution mechanical subsystem, a heating subsystem and a sensor monitoring control subsystem.
The computer control subsystem is connected with the motor control and servo subsystem and the sensor monitoring control subsystem and is used for receiving the feedback result of the sensor monitoring control subsystem and generating a command to control the motor control and servo subsystem according to the feedback result;
the sensor monitoring control subsystem is connected with the heating subsystem and comprises a sensor device, wherein the sensor device is used for monitoring physical sign parameters of a human body in real time, uploading the monitored parameters to the computer control subsystem and controlling whether the heating subsystem works or not according to the temperature parameters;
the heating subsystem is connected with the operation execution mechanical subsystem and is used for heating or stopping heating the operation execution mechanical subsystem according to a command of the sensor monitoring control subsystem;
the motor control and servo subsystem is connected with the operation execution mechanical subsystem and is used for receiving the command of the computer control subsystem and driving the operation execution mechanical subsystem to complete the passive bionic motion of the human body;
the motion execution mechanical subsystem is used for completing the passive bionic motion process of the human body under the drive of the motor control and servo subsystem.
Further, the health cloud platform subsystem includes: personal health archives, big data analysis, intelligent modeling, medical social security system docking, remote diagnosis module.
Further, the rehabilitation physiotherapy robot may further include: video play subsystem, VR vision cooperative therapy subsystem, man-machine conversation subsystem, treatment plan setting and storage subsystem, mode selection subsystem (manual, automatic, intelligent), safety limit control subsystem, etc. Preferably, the rehabilitation physiotherapy robot further comprises an expansion interface which can perform function expansion and docking when necessary.
Further, the motion-performing mechanical subsystem includes: the far infrared magnetic therapy cervical vertebra pillow comprises a movable bed body, magnets, far infrared magnetic therapy spine combing massage balls, wear-resistant and static-free heating carbon fiber cloth belts, foot fixtures, far infrared thermal magnetic therapy medicine fumigation belts with body fixing effects and the like. Preferably, the movable bed body can enable a human body lying on the bed to passively complete various postures, such as sitting up, half lying at any angle, running and the like; preferably, the magnets are arranged on the bed according to the acupoints of the human body, and can generate a constant magnetic field to interact with the biological magnetic field of the human body.
When the cloud intelligent human body passive bionic movement rehabilitation physiotherapy system is used for rehabilitation physiotherapy, a physiotherapy person lies on the movable bed body, the head is placed on the far infrared magnetic therapy cervical vertebra pillow, the feet are placed on the foot fixing device, and the body is fixed through the far infrared thermal magnetic therapy medicine fumigation belt. On one hand, a computer control subsystem of the rehabilitation physiotherapy robot is communicated with the health cloud platform, and basic information of a physiotherapy person is called; on the other hand, the sensor monitoring control subsystem collects the current physical condition information of the physiotherapist, and the sensor monitoring control subsystem comprises: humiture, bioelectricity, brain waves, heart rate, respiration, magnetic force and far infrared waves. Judging whether the bed body needs to be heated through the body temperature, when the bed body needs to be heated, sending an instruction to the heating subsystem by the sensor monitoring control subsystem, and starting heating the bed body by the heating subsystem until the temperature is preset, and stopping heating. The cold causes of the disease, science and facts prove that exercise in warm environment has twice the effect of half effort on recovery of health. The sensor monitoring control subsystem sends the information collected to the computer control subsystem, and the computer control subsystem makes a treatment scheme according to physiotherapy person data and personal requirements from the cloud platform and the sensor monitoring control subsystem, decides whether to start a magnetite field and far infrared magnetic therapy spine combing massage balls, sends a motion instruction to the motor control and servo clothes subsystem, controls the activity of the movable bed body, and enables the human body to complete passive bionic motion. Such as the joint does not bear weight and moves under the action of external force, the hip joint is driven to drive the spine to move, the five joints move, the head is at a low position, the 30-degree inclined handstand, the non-pressure and non-muscle movement, the non-bearing movement and the like. In the process of evolution, people walk from limbs to stand, the work and life of people are sitting and standing postures, when standing, the ankle joints, the knee joints, the hip joints and the spine of the human body bear the gravity of the whole body, and often the standing person is prone to symptoms such as visceral prolapse, cerebral ischemia, heart disease, lumbago, leg and foot swelling, knee joint pain and the like. The spine and cervical vertebrae of a human body are often bent with inverse physiological curvature when in sitting position, and people who often sit for a long time are prone to lumbar spondylosis, cervical spondylosis, hemorrhoids and varicose veins of lower limbs. Modern science and facts prove that performing some abnormal exercises has excellent effects on body building and preventing various diseases. After a certain activity amount is completed, the computer control subsystem uploads information of the physiotherapy person to the health cloud platform.
The physiotherapy that the physiotherapy person was accomplished is driven to the system has following characteristics:
the hip joint drives the whole body joint to bear no load in the warm environment acted by far infrared rays and a magnetic field, the head is low-position, painless treated, the passive exercise rehabilitation theory therapy is aerobically relaxed, the spine is warmed, the spine diseases are recovered by combing, and the principle and the technique of massaging viscera correspond to the acupoint to condition the viscera diseases. Specific: the far infrared ray emission device with controllable temperature is used for all movements in a far infrared ray warm environment; magnetic therapy (heat): the permanent magnet emits magnetic force lines which are matched with the magnetic field of the human body; bionic motion (swing) spinal joint; the hip joint drives the whole body joint to perform passive bionic motion; the joints do not bear load, and the human body lies on the back to make bionic movement through external force; head low-position movement, natural stretching and releasing joint cavity and soft tissue; the exercise rehabilitation leg joints of the lying passive bicycle; the spine is warm, moist, massaged and combed, and the spine pathological changes and internal organ diseases are conditioned according to the spine physiological curve; a medicine (moxa) fumigating bag (pad) which can be used for controlling the temperature and changing the medicine (moxa) fumigating; intelligent control, namely accessing WIFI and GPRS into Internet+health files, analyzing big data, and performing cloud computing; a bionic motion model is built in, and a cloud self-learning motion model is built in; man-machine conversation, video playing, VR vision treatment, and motion curve waveforms; biological electric wave sensing, heart rate monitoring, respiration monitoring and limb sensing control force and speed.
According to the technical scheme, the cloud intelligent human body passive bionic movement rehabilitation physiotherapy system is based on bionic design, so that human bodies can perform bionic passive movement on joints and muscles of human bodies in a lying mode, and acupuncture points are massaged in a warming mode, pain caused by gravity influence and muscle exertion during movement is avoided, movement effect is influenced, disease treatment pain is increased, a treatment process is painless, and a novel therapy of head low-position painless and passive aerobic movement is formed; meanwhile, the device is not limited by individual physique, and even if the person cannot walk, the quadriplegia can easily exercise and treat, so that the person can wake up the function of the person gradually. The patient can also select a proper treatment program according to the individual condition of the patient, and the computer can automatically adjust the temperature, the speed, the amplitude, the intensity, the time, the start and stop, and the like, and can memorize and store the self-defined treatment program.
Second embodiment
The embodiment provides a rehabilitation physiotherapy robot. Fig. 2 is a schematic structural view of the rehabilitation physiotherapy robot. As shown in fig. 2, the rehabilitation physiotherapy robot includes: the device comprises a box-shaped base 1, a movable bed body 2, a lifting motor spring 3, a computer control center 4, a transverse swinging motor 51, a first longitudinal swinging motor 52, a lifting motor 53, a second longitudinal swinging motor 61 and a foot up-and-down moving motor 62; universal wheels (71, 72). Wherein the universal wheels (71, 72) are arranged at the lower end of the box-shaped base 1, the computer control center 4 is arranged at the center of the box-shaped base 1, the transverse swinging motor 51, the first longitudinal swinging motor 52, the lifting motor 53, the second longitudinal swinging motor 61 and the foot up-and-down moving motor 62 are arranged on the box-shaped base, and the lifting motor 53 is connected with the lifting motor spring 3. The computer control center 4 is connected with the transverse swinging motor 51, the first longitudinal swinging motor 52, the lifting motor 53, the second longitudinal swinging motor 61 and the foot up-and-down moving motor 62.
Fig. 3 is a top view of the rehabilitation physiotherapy robot. As shown in fig. 3, the movable bed 2 includes: seven movable bed boards, a far infrared heating device 20 uniformly arranged on the seven movable bed boards, magnets 28 arranged according to the acupoints of a human body, and a far infrared thermal magnetic therapy medicine fumigation belt 29 arranged at the bedside for fixing the body, wherein the first movable bed board 21 corresponds to the upper head and the upper part of the upper half of the human body; the second movable bed board 22 and the third movable bed board 23 are bilaterally symmetrical to the chest and waist of the human body; the fourth movable bed board 24 and the fifth movable bed board 25 correspond to the legs of the human body; the sixth movable bed plate 26 and the seventh movable bed plate 27 correspond to feet of a human body; wherein, a far infrared magnetic therapy cervical vertebra pillow 211 is arranged on the first movable bed plate 21, four far infrared magnetic therapy spine combing massage balls 221 are arranged between the second movable bed plate 22 and the third movable bed plate 23, and the upper surface of the massage balls 221 is covered with a wear-resistant and static-free heating carbon fiber cloth belt 222; a foot fixer 261 is respectively arranged on the sixth movable bed plate 26 and the seventh bed plate 27; seven movable bed boards cooperate to complete the passive bionic movement of the physiotherapist.
The transverse motor is connected with the first movable bed board and controls the transverse swing of the first movable bed board; the first longitudinal motor is connected with the four massage balls and controls the longitudinal swing of the four massage balls; the lifting motor and the lifting motor spring are connected with the first movable bed board, and the lifting and the tilting of the first movable bed board are controlled; the second longitudinal motor is connected with the fourth movable bed board and the fifth movable bed board, the foot up-down moving motor is connected with the sixth movable bed board and the seventh movable bed board, and the fourth, fifth, sixth and seventh movable bed boards jointly complete the passive human bionic running movement of the legs.
The rehabilitation physiotherapy robot further comprises: a control computer 91 connected to the network, and a display screen 92 capable of being moved to the optimal visual range of the patient.
When the rehabilitation physiotherapy robot of the embodiment is used for physiotherapy, the rehabilitation physiotherapy robot has the following characteristics:
201. integrates far infrared thermal therapy, magnetic therapy, traditional Chinese medicine (moxibustion) fumigation therapy and aerobic passive movement, wakes up body functions and enables the whole body to be full of vitality;
202. temperature-controlling medicine fumigation and moxibustion in exercise promote blood circulation;
203. dissolving fat to reduce body weight;
204. strengthening the spine and joints, knocking the spine by warm vibration to massage and comb, warming and combing according to the physiological curve of the spine, conditioning the pathological changes of the spine, and treating and conditioning the diseases of internal organs through corresponding acupuncture points of the spine;
205. relieving back pain, muscle pain, neuralgia, neck, shoulder, waist and leg pain;
206. promoting improvement of digestive system;
207. enhancing immunity and preventing diseases;
208. passive exercise moves the less physically active and stiff parts;
209. the channels and collaterals of the corresponding internal organs such as heart, lung, liver, spleen, kidney, stomach and the like are dredged while relieving and treating the spinal lesions through spinal carding massage, so that the effects of preventing and treating the internal organ diseases are achieved;
210. the health care sports are suitable for rehabilitation and health care sports of various crowds, and are particularly suitable for rehabilitation treatment of the old, the weak, the sick and disabled and the injured without physical strength;
211. when the legs swing, the knee joint reaches the controllable motion speed of a person during running in a non-bearing state, namely, the hip, the knee and the ankle joint are recovered in warm medicine fumigation motion by the horizontal passive pedaling bicycle motion;
212. intelligent control, big data analysis and cloud computing. Analyzing and early warning the health file, and self-learning a motion model;
213. man-machine conversation, audio and video playing, VR vision treatment, self-learning and self-memorizing motion curve models;
214. biological wave sensing, heart rate monitoring, respiration monitoring and temperature and humidity monitoring.
Therefore, the rehabilitation physiotherapy robot can warm the whole body of a physiotherapy person to perform aerobic natural exercise, has spine combing and warm massage functions, can move ankle joints, knee joints, hip joints, spines, lumbar vertebrae and cervical vertebrae, enables muscles of the whole body to fully move, increases blood circulation, dredges the whole body, stimulates the sympathetic nervous system, has good effects on arthropathy, hyperosteogeny, spondylitis, blood stasis, varicose veins, vasculitis and wind-cold catching, and can treat diseases of internal organs.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (1)
1. A cloud intelligent rehabilitation physiotherapy system, the system comprising: health cloud platform, passive bionic motion rehabilitation physiotherapy robot; wherein,,
the health cloud platform is communicated with the rehabilitation physiotherapy robot through a network and is used for providing big data analysis and support for physiotherapy patients and realizing docking with a medical and medical insurance system and remote diagnosis;
the rehabilitation physiotherapy robot is used for providing magnetotherapy, thermotherapy, massage, medicine fumigation and passive bionic aerobic exercise treatment for physiotherapy patients;
the rehabilitation physiotherapy robot includes: the system comprises a computer control subsystem, a motor control and servo subsystem, a motion execution mechanical subsystem, a heating subsystem and a sensor monitoring control subsystem;
the computer control subsystem is connected with the motor control and servo subsystem and the sensor monitoring control subsystem and is used for receiving the feedback result of the sensor monitoring control subsystem and generating a command to control the motor control and servo subsystem according to the feedback result;
the sensor monitoring control subsystem is connected with the heating subsystem and comprises a sensor device, wherein the sensor device is used for monitoring physical sign parameters of a human body in real time, uploading the monitored parameters to the computer control subsystem and controlling whether the heating subsystem works or not according to the temperature parameters;
the heating subsystem is connected with the operation execution mechanical subsystem and is used for heating or stopping heating the operation execution mechanical subsystem according to a command of the sensor monitoring control subsystem;
the motor control and servo subsystem is connected with the operation execution mechanical subsystem and is used for receiving the command of the computer control subsystem and driving the operation execution mechanical subsystem to complete the passive bionic aerobic movement of the human body;
the motion execution mechanical subsystem is used for completing the passive bionic aerobic motion process of the human body under the drive of the motor control and servo subsystem;
the health cloud platform is connected with the computer control subsystem through a network and provides an interface for the computer control subsystem to communicate with the database server and the cloud computing server;
the rehabilitation physiotherapy robot further comprises: an audio and video playing subsystem, a VR vision cooperative treatment subsystem, a man-machine conversation subsystem, a treatment scheme setting and storing subsystem and a safety limit control subsystem;
the run-performing mechanical subsystem includes: the far infrared thermo-magnetic therapy medical fumigation belt has the functions of moving bed body, magnet, far infrared magnetic therapy cervical vertebra pillow, far infrared magnetic therapy spine combing massage ball, wear-resisting and static-free heating carbon fiber cloth belt, foot fixer and body fixing at the same time;
the rehabilitation physiotherapy robot includes: the device comprises a box-shaped base, a lifting motor spring, a computer control center, a transverse swinging motor, a first longitudinal swinging motor, a lifting motor, a second longitudinal swinging motor and a foot up-and-down moving motor; wherein,,
the lower end of the box-shaped base is provided with a universal wheel, the computer control center is arranged in the center of the box-shaped base, the transverse swinging motor, the first longitudinal swinging motor, the lifting motor and the second longitudinal swinging motor are arranged on the box-shaped base, and the foot up-and-down moving motor is arranged on the box-shaped base;
the lifting motor is connected with the lifting motor spring;
the computer control center is connected with the transverse swing motor, the first longitudinal swing motor, the lifting motor, the second longitudinal swing motor and the foot up-and-down movement motor at the same time;
the movable bed body comprises: seven movable bed boards, far infrared heating devices uniformly arranged on the seven movable bed boards, magnets arranged according to the acupoints of a human body, and far infrared thermal magnetic therapy medicine fumigation belts arranged at the bedside and used for fixing the body; the first movable bed board corresponds to the head part and the upper part of the upper half body of a human body; the second movable bed board and the third movable bed board are bilaterally symmetrical and are used for the chest and waist of a human body; the fourth movable bed board and the fifth movable bed board correspond to the legs of the human body; the sixth movable bed board and the seventh movable bed board correspond to feet of a human body;
the device comprises a first movable bed board, a second movable bed board, a third movable bed board, a far infrared magnetic therapy cervical vertebra pillow, four longitudinally movable far infrared magnetic therapy spine combing massage balls, a wear-resistant and static-free carbon fiber cloth belt and a second movable bed board, wherein the first movable bed board is provided with the far infrared magnetic therapy cervical vertebra pillow; a foot fixer is respectively arranged on the sixth bed board and the seventh bed board; seven movable bed boards are matched to complete the passive bionic movement of the physiotherapist;
the transverse swinging motor is connected with the first movable bed board and controls the transverse swinging of the first movable bed board; the first longitudinal swinging motor is connected with the four massage balls and controls the longitudinal swinging of the four massage balls; the lifting motor and the lifting motor spring are connected with the first movable bed board, and the lifting and the tilting of the first movable bed board are controlled; the second longitudinal swinging motor is connected with the fourth movable bed board and the fifth movable bed board, the foot up-down moving motor is connected with the sixth movable bed board and the seventh movable bed board, and the fourth, fifth, sixth and seventh movable bed boards jointly complete the passive human bionic running movement of the legs;
the passive bionic motion drives the hip joint to drive the whole body joint to do motion, comprising: motion of joints under the action of external force without bearing, spinal motion, hip joint motion, five-joint motion, head low position, 30-degree inclined handstand, no pressure and no muscle force motion;
the passive bionic movement is performed in a thermal field, a magnetic field and a medical fumigation moxibustion environment, so that warm passive bionic aerobic movement is realized.
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| CN111297536A (en) * | 2020-03-30 | 2020-06-19 | 南通市第一人民医院 | Multifunctional monitoring and exercising instrument for preventing deep venous thrombosis and foot drop of lower limbs |
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