CN116115468B

CN116115468B - Signal amplification exercise device based on brain-computer interface

Info

Publication number: CN116115468B
Application number: CN202310376599.8A
Authority: CN
Inventors: 赵玉水; 张海峰; 赵绍晴; 张海燕; 郭新峰
Original assignee: Shandong Haitian Intelligent Engineering Co ltd
Current assignee: Shandong Haitian Intelligent Engineering Co ltd
Priority date: 2023-04-11
Filing date: 2023-04-11
Publication date: 2023-07-04
Anticipated expiration: 2043-04-11
Also published as: CN116115468A

Abstract

The invention relates to a signal amplification exercise device based on a brain-computer interface, which comprises a sickbed arranged on the ground and an electrode cap worn on the head of a patient on the sickbed, wherein a supporting device is arranged on the outer side of the sickbed, a transverse rack along the length direction of the sickbed is arranged at the top of the supporting device, a transverse driving gear and a transverse driven gear are arranged on the transverse rack, the transverse driving gear is connected with a transverse servo motor through a transverse driving motor shaft, the transverse driven gear is connected with a transverse driven motor shaft, a transverse connecting plate is connected between the transverse driven motor shaft and the transverse servo motor, two rack supporting plates are welded on the transverse connecting plate, a longitudinal rack is fixed on the rack supporting plates, a mobile trolley is arranged on the longitudinal rack, and a leg fixing device is connected below the mobile trolley. The beneficial effects are that: the rehabilitation device has the advantages that the rehabilitation device replaces the operation of auxiliary rehabilitation personnel, promotes and excites the autonomous rehabilitation exercise of a hemiplegic patient with apoplexy, reduces sequela during running with time, furthest meets the recovery of the motor function of the patient, and improves the life quality of the patient.

Description

Signal amplification exercise device based on brain-computer interface

Technical Field

The invention belongs to the technical field of brain-computer interface rehabilitation exercise for patients with apoplexy and hemiplegia, and particularly relates to a signal amplification exercise device based on a brain-computer interface.

Background

The rehabilitation training of the hemiplegia patient in early stage, especially 3 months after the disease is beneficial to alleviating limb spasm, preventing complications, reducing disability rate and improving life quality, and aims at the non-operative hemiplegia patient, especially the cerebral apoplexy patient, the rehabilitation training is earlier and better, as long as the patient has clear mind and stable vital sign, the disease can be carried out after 48 hours no longer, the rehabilitation training intensity is gradually changed from small to large, and because the plasticity of human brain tissue is very strong, the rehabilitation training is assisted to the apoplexy hemiplegia patient through the outside and the active consciousness rehabilitation training of the apoplexy hemiplegia patient is carried out, and the cerebral nerve tissue can carry out correct functional compensation according to the needs. Because the hip and knee positions of the hemiplegic patient are large in volume and weight, the rehabilitation training device brings challenges to assisting rehabilitation staff and patient consciousness active rehabilitation training, the conventional practice is to assist rehabilitation staff to mechanically perform rehabilitation training on the hip and knee positions of the patient, and the rehabilitation staff is shown to pay a lot of physical force, but whether the patient is in active mind is unknown, such as the lifting and bending degree, frequency and the like of the hip and knee positions. The early stage of the hemiplegia patient has strong recovery and exercise desire, the nerve cell group in each area of the cerebral cortex can send out pulse synchronous potential difference, the potential of the brain cell electric activity is taken as the vertical axis and the time is taken as the horizontal axis, the identifiable electroencephalogram is obtained through amplification, filtering and other treatments, the electroencephalogram is analyzed and extracted through a computer program to obtain characteristic signals, such as the correlation of specific amplitude, frequency or frequency spectrum and the like, the characteristic signals are also data instructions, and the data instructions control the electric control equipment to complete corresponding actions. The method has the advantages that the intention recognition and the electric control action of the patient are closer to the natural control way, the active exercise idea of the patient can be promoted, and the rehabilitation effect is improved. This is also a computer communication system or brain-computer interface technology developed in recent years, but there is no device and method for applying the technology and exerting the effect of the good limbs of the patient to rehabilitation exercise of early hip and knee positions of the patient suffering from apoplexy and hemiplegia.

Disclosure of Invention

The invention provides a signal amplification exercise device based on a brain-computer interface in order to make up for the defects of the prior art.

The invention is realized by the following technical scheme:

a signal amplification exercise device based on a brain-computer interface comprises a sickbed arranged on the ground and an electrode cap worn on the head of a patient on the sickbed, and is characterized in that: the sickbed is characterized in that a supporting device is arranged on the outer side of the sickbed, a transverse rack along the length direction of the sickbed is arranged at the top of the supporting device, a transverse driving gear and a transverse driven gear are arranged on the transverse rack, the transverse driving gear is connected with a transverse servo motor through a transverse driving motor shaft, the transverse driven gear is connected with a transverse driven motor shaft, a transverse connecting plate is connected between the transverse driven motor shaft and the transverse servo motor, two rack supporting plates are welded on the transverse connecting plate, a longitudinal rack is fixed on each rack supporting plate, a travelling car is arranged on each longitudinal rack, and a leg fixing device is connected below the travelling car.

The electrode cap is in wireless connection with the signal amplification and filtering processor, the signal amplification and filtering processor is connected with the characteristic signal processing computer, and the characteristic signal processing computer is connected with the display PLC controller.

The movable trolley comprises a longitudinal driving gear and a longitudinal driven gear which are arranged on a longitudinal rack, the longitudinal driving gear is connected with a longitudinal servo motor through a longitudinal driving motor shaft, the longitudinal driven gear is connected with a longitudinal driven motor shaft, the longitudinal driven motor shaft is arranged on a bearing seat, the bearing seat and the longitudinal servo motor are arranged on a horizontal plate, and the lower part of the horizontal plate is connected with a leg fixing device.

The leg fixing device comprises an upper arc plate and a lower arc plate, wherein the upper arc plate is fixed on two sides of the upper arc plate, the lower arc plate is fixed on two sides of the lower arc plate, the upper arc plate is fixed with a lower electric cylinder, the output end of the lower electric cylinder is connected with a spherical bowl cylinder, the lower part of the spherical bowl cylinder is provided with a rectangular groove, a supporting cover is fixed below the lower arc plate, fan-shaped plates are uniformly distributed at the upper end of the supporting cover, a movable sleeve is sleeved at the lower end of the supporting cover, a connecting rod is connected between the fan-shaped plates and the movable sleeve, circular grooves are respectively formed in the outer sides of the fan-shaped plates, and annular spring steel wires are arranged in the circular grooves.

The lower ball joint universal joint is connected between the lower electric cylinder and the ball bowl cylinder, the pull-down pressure sensor is connected between the lower ball joint universal joint and the lower electric cylinder, and the lower electric cylinder is connected with the lower servo motor.

The lower electric cylinder is connected with an upper electric cylinder output end through an electric cylinder connecting plate, an upper pull pressure sensor and a middle ball joint universal joint are sequentially connected between the upper electric cylinder output end and the electric cylinder connecting plate, the upper electric cylinder is connected with an upper servo motor, and the upper electric cylinder is connected with the travelling car through an upper ball joint universal joint.

The protection casing is installed through the permanent magnet to the support lid below, and the removal cover is located on the pipe cylinder of support lid below, is connected the hinge pin respectively between sector plate and the connecting rod and between removal cover and the connecting rod, and the hinge pin is arranged in the narrow slot, is equipped with the circular arc section below the rectangular slot.

The inner sides of the upper arc plate and the lower arc plate are respectively provided with a silica gel layer, and the silica gel layers are provided with flexible pressure sensors.

And a horizontal rod is connected between the transverse racks.

The supporting device comprises a supporting tube arranged on the ground, the supporting tube is connected with a frame through an adjusting nut, the frame is connected with a reinforcing rib cross rod, and an electric cradle head monitoring camera is arranged on the reinforcing rib cross rod.

The beneficial effects of the invention are as follows: the rehabilitation device replaces the operation of auxiliary rehabilitation personnel, utilizes brain-computer interface technology and plays the good limb effect of a patient, promotes and excites the autonomous rehabilitation exercise of a hemiplegic patient with apoplexy, reduces sequela during running with time, furthest meets the recovery of the movement function of the patient, and improves the life quality of the patient.

Drawings

The invention is further described below with reference to the accompanying drawings.

FIG. 1 is a schematic view of a working state main view structure of the invention;

FIG. 2 is a schematic top view of the present invention in an operational state;

FIG. 3 is a schematic view of the initial state structure of the present invention;

FIG. 4 is an enlarged schematic view of the leg exercise device of FIG. 1;

FIG. 5 is an enlarged schematic view of the leg exercise device of FIG. 2;

FIG. 6 is a schematic diagram of the leg exercise principle of FIG. 3;

FIG. 7 is a schematic diagram of the mobile power structure of the leg exercise device of FIG. 6;

FIG. 8 is an enlarged schematic view of the portion I of FIG. 4;

FIG. 9 is the schematic illustration of FIG. 5

A partial enlarged schematic structure;

FIG. 10 is the schematic illustration of FIG. 5

A partial enlarged schematic structure;

FIG. 11 is a schematic view of a leg holding state of the present invention;

FIG. 12 is a schematic side view of the leg grip of the present invention;

FIG. 13 is the illustration of FIG. 11

A partially enlarged cross-sectional schematic structural view;

FIG. 14 is a control schematic diagram of the present invention;

FIG. 15 is a schematic view of the annular spring wire mounting structure of the present invention;

in the figure, 1 sickbed, 2 electrode cap, 3 supporting device, 4 transverse rack, 5 transverse driving gear, 6 transverse driven gear, 7 transverse driving motor shaft, 8 transverse servo motor, 9 transverse driven motor shaft, 10 transverse connecting plate, 11 rack pallet, 12 longitudinal rack, 13 mobile trolley, 14 leg fixing device, 15 signal amplifying filter processor, 16 characteristic signal processing computer, 17 display PLC controller, 18 longitudinal driving gear, 19 longitudinal driven gear, 20 longitudinal driving motor shaft, 21 longitudinal servo motor, 22 longitudinal driven motor shaft, 23 bearing seat, 24 horizontal plate, 25 upper arc plate, 26 lower arc plate, 27 upper cantilever plate, 28 lower cantilever plate, the device comprises a 29 lower electric cylinder, a 30 spherical bowl cylinder, a 31 rectangular groove, a 32 supporting cover, a 33 sector plate, a 34 moving sleeve, a 35 connecting rod, a 36 circular groove, a 37 annular spring steel wire, a 38 lower ball joint universal joint, a 39 lower pull pressure sensor, a 40 lower servo motor, a 41 electric cylinder connecting plate, a 42 upper electric cylinder, a 43 upper pull pressure sensor, a 44 middle ball joint universal joint, a 45 upper servo motor, a 46 upper ball joint universal joint, a 47 permanent magnet, a 48 protecting cover, a 49 cylinder, a 50 hinge shaft, a 51 narrow groove, a 52 circular arc section, a 53 silica gel layer, a 54 flexible pressure sensor, a 55 horizontal rod, a 56 supporting tube, a 57 adjusting nut, a 58 frame, a 59 reinforcing rib transverse rod, a 60 electric cradle head monitoring camera and a 61 remote controller.

Detailed Description

The drawings illustrate one embodiment of the invention. The embodiment comprises a sickbed 1 arranged on the ground and an electrode cap 2 worn on the head of a patient on the sickbed 1, wherein a supporting device 3 is arranged on the outer side of the sickbed 1, a transverse rack 4 along the length direction of the sickbed 1 is arranged at the top of the supporting device 3, a transverse driving gear 5 and a transverse driven gear 6 are arranged on the transverse rack 4, the transverse driving gear 5 is connected with a transverse servo motor 8 through a transverse driving motor shaft 7, the transverse driven gear 6 is connected with a transverse driven motor shaft 9, a transverse connecting plate 10 is connected between the transverse driven motor shaft 9 and the transverse servo motor 8, two rack supporting plates 11 are welded on the transverse connecting plate 10, a longitudinal rack 12 is fixed on the rack supporting plates 11, a movable trolley 13 is arranged on the longitudinal rack 12, and a leg fixing device 14 is connected below the movable trolley 13. The electrode cap 2 is connected with a signal amplification filter processor 15 in a wireless mode, the signal amplification filter processor 15 is connected with a characteristic signal processing computer 16, and the characteristic signal processing computer 16 is connected with a display PLC controller 17. The travelling car 13 comprises a longitudinal driving gear 18 and a longitudinal driven gear 19 which are arranged on a longitudinal rack 12, the longitudinal driving gear 18 is connected with a longitudinal servo motor 21 through a longitudinal driving motor shaft 20, the longitudinal driven gear 19 is connected with a longitudinal driven motor shaft 22, the longitudinal driven motor shaft 22 is arranged on a bearing seat 23, the bearing seat 23 and the longitudinal servo motor 21 are arranged on a horizontal plate 24, and the lower part of the horizontal plate 24 is connected with the leg fixing device 14.

Leg fixing device 14 includes circular arc board 25 and lower circular arc board 26, upper cantilever plate 27 is fixed to upper circular arc board 25 both sides, lower cantilever plate 28 is fixed to lower circular arc board 26 both sides, upper cantilever plate 27 is fixed with lower electronic jar 29, spherical bowl cylinder 30 is connected to lower electronic jar 29 output, spherical bowl cylinder 30 lower part is equipped with rectangular channel 31, lower cantilever plate 28 below is fixed with holds in the palm lid 32, the inside equipartition of hold in the palm lid 32 upper end has sector plate 33, hold in the palm lid 32 lower extreme cover is equipped with and removes cover 34, connect connecting rod 35 between sector plate 33 and the removal cover 34, circular channel 36 has been seted up respectively in sector plate 33 outside, be equipped with annular spring wire 37 in the circular channel 36. A lower ball joint universal joint 38 is connected between the lower electric cylinder 29 and the ball bowl cylinder 30, a pull-down pressure sensor 39 is connected between the lower ball joint universal joint 38 and the lower electric cylinder 29, and the lower electric cylinder 29 is connected with a lower servo motor 40. The lower electric cylinder 29 is connected with the output end of the upper electric cylinder 42 through an electric cylinder connecting plate 41, a pull-up pressure sensor 43 and a middle ball joint 44 are sequentially connected between the output end of the upper electric cylinder 42 and the electric cylinder connecting plate 41, the upper electric cylinder 42 is connected with an upper servo motor 45, and the upper electric cylinder 42 is connected with the travelling car 13 through an upper ball joint 46. A protective cover 48 is arranged below the supporting cover 32 through a permanent magnet 47, the movable sleeve 34 is sleeved on a pipe column 49 below the supporting cover 32, a hinge shaft 50 is respectively connected between the sector plate 33 and the connecting rod 35 and between the movable sleeve 34 and the connecting rod 35, the hinge shaft 50 is arranged in a narrow slot 51, and a circular arc section 52 is arranged below the rectangular slot 31. The inner sides of the upper arc plate 25 and the lower arc plate 26 are respectively provided with a silica gel layer 53, and the silica gel layer 53 is provided with a flexible pressure sensor 54.

A horizontal rod 55 is connected between the transverse racks 4. The supporting device 3 comprises a supporting tube 56 arranged on the ground, the supporting tube 56 is connected with a frame 58 through an adjusting nut 57, the frame 58 is connected with a reinforcing rib cross rod 59, and an electric cradle head monitoring camera 60 is arranged on the reinforcing rib cross rod 59.

By adopting the signal amplification exercise device based on the brain-computer interface, the head of a patient on a lying sickbed 1 wears the non-invasive electrode cap 2, the electric signal of the device is connected with the signal amplification filter processor 15, the characteristic signal processing computer 16 transmits action instructions to the display PLC controller 17, the electric cylinders, the sensors, the cameras, the upper arc plate and the lower arc plate in the action executing parts complete the actions of holding and rotating the thighs and the lower legs of the patient, and the patient takes the remote controller 61 for autonomous rehabilitation exercise when conscious consciousness is clear, at the moment, the characteristic signal processing computer 16 temporarily does not transmit the action executing instructions but works normally.

The method specifically comprises the following steps: the sickbed 1 is placed on the ground, a patient with hemiplegia is lying on the sickbed 1, the head of the patient with hemiplegia wears the non-invasive electrode cap 2, the waist to foot of the patient with hemiplegia is provided with the height-adjustable frame 58, the periphery of the height-adjustable frame 58 is provided with the reinforcing rib cross bars 59, the lower surface of the middle part of the reinforcing rib cross bars 59 is provided with the electric cradle head monitoring camera 60, the upright post of the height-adjustable frame 58 is provided with the adjusting nut 57, the upright post tubule of the connecting frame 58 can be downwards inserted into the supporting tube 56, the tubule can also be upwards moved, the outside of the tubule is provided with the height mark, the supporting tube 56 is positioned at the two sides of the width of the sickbed 1, and the lower end of the supporting tube 56 is contacted with the ground. The top surface of the adjustable frame 58 is provided with a transverse rack 4 along the length direction of two bed edges through bolts, the two transverse racks 4 are provided with a meshed transverse driving gear 5 and a transverse driven gear 6, all the gears in the device are provided with flanges for axial positioning, wherein the transverse driving gear 5 is fixedly arranged on a transverse driving motor shaft 7 of a transverse servo motor 8, the transverse driven gear 6 is arranged on a transverse driven motor shaft 9, the end part of the transverse driven motor shaft 9 is welded on a flange, the flange and the transverse servo motor 8 are fixed on one side (the outer side) of a transverse connecting plate 10 through bolts, the opposite side (the inner side) of the two transverse connecting plates 10 are respectively fixed with two connecting plates through bolts, two rack supporting plates 11 are welded between the opposite connecting plates of the two transverse connecting plates 10, longitudinal racks 12 are fixed on the top surface of the rack supporting plates 11 through bolts, the two longitudinal racks 12 are parallel and horizontal, each longitudinal rack 12 is respectively engaged with a longitudinal driving gear 18 and a longitudinal driven gear 19, the two longitudinal driving gears 18 are respectively arranged at two ends of a longitudinal driving motor shaft 20 of a longitudinal servo motor 21, two sides of a longitudinal driven motor shaft 22 are respectively provided with a bearing and a bearing seat 23, two ends of the longitudinal driven motor shaft 22 are respectively provided with a longitudinal driven gear 19, the bearing seat 23 and the longitudinal servo motor 21 are fixed on the upper surface of a horizontal plate 24 through bolts, the longitudinal servo motor 21 and the two bearing seats 23 which are fixed on the horizontal plate 24 and the longitudinal driving gears 18 arranged at two ends of the longitudinal driving motor shaft 20 and the longitudinal driven gears 19 arranged at two ends of the longitudinal driven motor shaft 22 form a movable trolley 13, the two longitudinal driving gears 18 and the two longitudinal driven gears 19 of the movable trolley 13 are jointly engaged with the two longitudinal racks 12, the trolley 13 is movable in the width direction of the hospital bed 1 on two parallel and horizontal longitudinal racks 12. The two longitudinal racks 12, the two transverse connecting plates 10, the two transverse servo motors 8, the transverse driving gears 5 arranged on the transverse driving motor shafts 7 of the two transverse servo motors and the transverse driven gears 6 arranged on the two transverse driven motor shafts 9 form a cart, the two transverse driving gears 5 and the two transverse driven gears 6 are meshed with the two parallel and horizontal transverse racks 4 together, and the cart can move along the length direction of the sickbed 1.

Two trolleys and moving trolleys 13 with similar structures are arranged on the two transverse racks 4 side by side, wherein the movement of the trolleys on the left side and the right side is respectively driven by the two transverse servo motors 8, and the movement of the moving trolleys 13 is driven by the longitudinal servo motors 21. The ball bowl end of an upper ball joint 46 is fixed at the center of the lower surface of a horizontal plate 24 of the mobile trolley 13 through bolts, the ball bowl end is fixed on the upper surface of a connecting plate through bolts, the lower surface of the connecting plate is fixed with an upper electric cylinder 42 through bolts, an upper servo motor 45 supplies power for the upper electric cylinder 42, an upper pull pressure sensor 43 is arranged at the lower end of a telescopic end of the upper electric cylinder 42, the ball bowl end of a middle ball joint 44 is fixed at the lower end of the upper pull pressure sensor 43, the ball bowl end of the middle ball joint 44 is fixed at the center of the upper surface of the electric cylinder connecting plate 41 through bolts, the two sides of the lower surface of the electric cylinder connecting plate 41 are respectively fixed with the end parts of outer cylinders of lower electric cylinders 29 through bolts, the lower parts of the outer cylinders of the two lower electric cylinders 29 are respectively fixed with upper cantilever plates 27 at the opposite inner sides, the upper cantilever plates 27 are fixed with an upper arc plate 25 together on the opposite inner sides, the upper arc plate 25 is made of elastic nonmetallic materials, the concave surfaces of the upper arc plate 25 face downwards, a lower servo motor 40 provides power for a lower electric cylinder 29, a lower pull pressure sensor 39 is arranged at the lower end of a telescopic end of the lower electric cylinder 29, the lower end of the lower pull pressure sensor 39 is fixed with the ball end of a lower ball universal joint 38, the lower part of the ball bowl end of the lower ball universal joint 38 is inserted and fixed on a lower cantilever plate 28, the lower arc plate 26 is fixed with the lower cantilever plate 28 together, the concave surfaces of the lower arc plate 26 are made of elastic nonmetallic materials, medical silica gel layers 53 are adhered to the arc inner walls of the upper arc plate 25 and the lower arc plate 26 respectively, and small convex flexible pressure sensors 54 are uniformly distributed on the surface of the silica gel layers 53. The sizes of the electric cylinder, the upper arc plate, the lower arc plate, and the like connected with the lower surface of the horizontal plate 24 in the left and right movable trolleys 13 are different, because the thighs and the calves of patients are different in thickness and height, and the running directions are also different.

The upper arc plate 25 and the lower arc plate 26 are used for holding the legs of a patient, for example, the upper arc plate 25 and the lower arc plate 26 are made of elastic nonmetallic materials, the inner arc wall of the upper arc plate 25 and the lower arc plate 26 are adhered with a silica gel layer 53 and are uniformly provided with a plurality of flexible pressure sensors 54, the two sides of the upper arc plate 25 and the two sides of the lower arc plate 26 are connected through a lower electric cylinder 29 and are provided with a pull-down pressure sensor 39 and a lower ball joint universal joint 38, and the purpose of the structural design is as follows: the upper arc plate 25 and the lower arc plate 26 are made of elastic materials, so that the upper arc plate is beneficial to covering the thigh surface of a patient, nonmetallic materials are less prone to absorb heat than metallic materials, the medical silica gel is less likely to be allergic when being directly contacted with the skin of the patient than other materials, a plurality of flexible pressure sensors 54 are uniformly distributed for controlling the contact pressure contacting the thigh surface, sometimes the contact pressure needs to be properly increased and can be possibly reduced to zero pressure such as massage state, the increase and decrease of the contact pressure are provided with pressure data by the flexible pressure sensors 54 and the pull-down pressure sensors 39 to a control system, the electric cradle head monitoring camera 60 provides image data to the control system, and the two lower electric cylinders 29 and the upper electric cylinder 42 and the longitudinal servo motor 21 for controlling the movement of the mobile trolley 13 and the two transverse servo motors 8 for controlling the movement of the trolley jointly complete control actions. The use of ball and socket joints for each connection section allows the patient's leg to move slightly in any direction.

The lower cantilever plates 28 on two sides of the lower arc plate 26 for holding the thighs and the calves of a patient are provided with 'inserting and fixing devices', the surface of the spherical bowl cylinder 30 at the lower part of the lower ball head universal joint 38 is provided with an arc section 52 and a rectangular groove 31, the lower cantilever plate 28 is provided with a hole, the lower surface of the lower cantilever plate 28 is fixedly provided with a supporting cover 32 through bolts, the middle part of the supporting cover 32 is provided with a gap, the middle lower part is provided with a pipe column body 49, a plurality of sector plates 33 are horizontally distributed in the gap, the outer diameter of each sector plate 33 is provided with a circular groove 36, the circumference of the circular groove 36 formed by the sector plates 33 is internally provided with an annular spring steel wire 37, the large diameter end of the lower surface of each sector plate 33 is provided with a hinge shaft 50, the hinge shaft 50 is connected with a connecting rod 35, the lower end of the connecting rod 35 is hinged on the outer diameter of the moving sleeve 34, and the inner diameter of the moving sleeve 34 is hung on the outer diameter and the lower end of the pipe column body 49. The weight of the movable sleeve 34 and the connecting rod 35 and the contraction force of the annular spring steel wire 37 force each sector plate 33 to have a trend force of moving towards the center of a circle, the permanent magnet 47 is adhered to the lower surface of the supporting cover 32, the protective cover 48 is adsorbed to the lower end of the permanent magnet 47, and the protective cover 48 is used for protecting the supporting cover 32 and the connecting rod 35 from being collided by mistake. The lower part of the lower ball joint 38 is inserted into the hole of the lower cantilever plate 28, the circular arc of the lower surface of the lower ball joint 38 contacts the sector plate 33, the sector plate 33 is pushed outwards in the large-diameter direction, and when the rectangular groove 31 of the lower part of the lower ball joint 38 reaches the position of the sector plate 33, the small-diameter end part of the sector plate 33 moves into the narrow groove 51, so that reliable fixation between the lower ball joint 38 and the lower cantilever plate 28 is realized. When the lower ball joint 38 and the lower cantilever plate 28 are required to be separated, the protective cover 48 is removed, the movable sleeve 34 is flapped from bottom to top by hands, and the sector plate 33 is driven by the connecting rod 35 to move towards the outer diameter direction, so that the small diameter end of the sector plate 33 is far away from the narrow groove 51, the lower ball joint 38 moves upwards, and the lower ball joint 38 and the lower cantilever plate 28 are separated.

A workbench trolley is arranged on the ground beside the sickbed 1, and a signal amplifying and filtering processor 15, a characteristic signal processing computer 16 and a display PLC controller 17 are arranged on the workbench trolley. The signal transmission line of the non-invasive electrode cap 2 is connected with the signal amplification and filtration processor 15 or is in wireless connection, the output interface of the signal amplification and filtration processor 15 is connected with the characteristic signal processing computer 16, the input end and the output end of the characteristic signal processing computer 16 are connected with the input end and the output end of the display PLC controller 17, and the electric control wires of the pull-up pressure sensor 43, the pull-down pressure sensor 39, all the flexible pressure sensors 54, the transverse servo motor 8, the longitudinal servo motor 21, the lower servo motor 40, the upper servo motor 45, the four electric cradle head monitoring cameras 60, the remote controller 61 and the like are all in wired or wireless connection with the display PLC controller 17. The operation control program of the device is input to the display PLC controller 17, and in any case, the operation speed, angle, force, range, etc. of the components are controlled. The display PLC controller 17 and the characteristic signal processing computer 16 are inputted with an image analysis and self-learning adaptive program.

The using method comprises the following steps: the height-adjustable frame 58 is moved above the sickbed 1, the top surface of the frame 58 is in a proper height range from the leg surface of a patient with hemiplegia due to apoplexy by adjusting the nuts 57, and the lower ball-and-socket universal joints 38 are respectively inserted and fixed in the holes of the lower cantilever plate 28 of the lower arc plate 26. The tidy non-invasive electrode cap 2 is worn on the head of a patient with hemiplegia in stroke, the signal amplification and filtering processor 15, the characteristic signal processing computer 16 and the display PLC 17 are connected with power supplies of related action components, and the working state is started, the non-invasive electrode cap 2 transmits the electric signals of the specific parts to the signal amplification and filtering processor 15, the non-invasive electrode cap 2 transmits the electric signals very weak, the signal amplification and filtering processor 15 amplifies the signals and filters the mixed useless signals, a large number of amplified useful readable electric signals are transmitted to the characteristic signal processing computer 16 again, the characteristic signal processing computer 16 finds out the characteristic signals of the specific parts of the cerebral cortex of the patient from the large number of electric signals according to preset analysis and self-learning self-adaptive programs, after the mode classification processing is carried out, the intention expressed by the patient and the action desire of the part of the body are analyzed, and the action force command of the action signal is sent to the action execution system by the characteristic signal processing computer 16. For example: the characteristic signal processing computer 16 transmits the leg movement and strength range instructions of the patient to the display PLC controller 17, and the display PLC controller 17 controls each movement component according to a preset program, image analysis, and self-learning adaptive program. For example: the pressure value of the flexible pressure sensor 54 does not exceed the upper limit value, the pressure value range of the pulling pressure sensor does not exceed the programming specified range, and the movement of the big trolley and the small trolley accords with the movement angles, the movement distances and the like of the hip and the knee in the relevant stage of the hemiplegia patient in the apoplexy. The PLC controller 17 is shown controlling the operation of the lower servo motor 40 to move the lower circular arc plate 26 upward, and when the pressure value of the flexible pressure sensor 54 reaches the predetermined range, the two lower servo motors 40 stop operating. The display PLC controller 17 controls the upper servo motor 45 to work so as to enable the telescopic end to act, the transverse servo motor 8 to work so as to enable the cart to move, the longitudinal servo motor 21 to work so as to enable the moving trolley 13 to move, the moving bending motion of the affected limb hip and knee parts of the hemiplegia patient in stroke accords with the motion and force range requirements sent by the characteristic signal processing computer 16, the display PLC controller 17 sorts the image data of the affected limb hip, knee moving bending force, frequency and the like of the hemiplegia patient recorded by the four electric pan monitoring cameras 60 and then transmits the image data to the characteristic signal processing computer 16, the characteristic signal processing computer 16 analyzes and self-adapts according to the image data and related characteristic electric signals and time, the characteristic signal processing computer 16 sends motion signal force instructions to the display PLC controller 17 again, and the characteristic signal processing computer 16 circularly so as to enable the distinguishing and pattern classification processing of a large amount of readable electric signals sent by the signal amplification filter processor 15 and the characteristic signal data instructions to be more accurate and fast, the brain of the affected limb or knee of the hemiplegia patient can be more actively moved, the stroke electric signals can be more accurately and more easily when the affected limb or knee movement signals of the affected limb or the patient can be more accurately, the corresponding cerebral concept and the movement range of the patient can not be more clearly controlled by the PLC controller, and the motion signals can be more clearly controlled by the corresponding movement signals are more clearly and the motion signals to the movement range of the affected limb is more 16. After receiving the action command sent by the characteristic signal processing computer 16, the display PLC controller 17 makes a decision after rapidly studying and judging the safety, rationality and scientificity of the action command according to the stored information and the self-learning self-adaptive program, the reasons for the execution or non-execution of the display PLC controller 17 are fed back to the characteristic signal processing computer 16, the characteristic signal processing computer 16 and the display PLC controller 17 cooperate with each other to learn to jointly progress, so that the cycle is benign, and the autonomous rehabilitation exercise intention of a patient with apoplexy is promoted and stimulated in a short time.

When the patient with hemiplegia in apoplexy is conscious and awake, the patient takes the remote controller 61 with his/her good limb, and after the remote controller 61 is turned on, the characteristic signal processing computer 16 temporarily does not send an action execution instruction to the display PLC controller 17, but still receives the information sent from the signal amplification filter processor 15, and performs discrimination and pattern classification, and processing and conversion of characteristic signal data. The remote controller 61 has only four keys, namely hip and knee straightening and bending and thigh massage, the action force of the remote controller is related to the time of pressing the keys, when a patient operates the remote controller 61, the display PLC 17 controls the action force of related components in real time according to programming according to the image data provided by the four electric pan-tilt monitoring cameras 60, so as to protect the patient, and prevent the patient from asking for help. After the display PLC controller 17 confirms the rehabilitation exercise effect of the patient according to the image data provided by the four electric pan-tilt monitoring cameras 60, the display PLC controller 17 gradually releases the action force of the relevant components according to the programming. The images of the patient in the process of controlling the remote controller 61 to perform rehabilitation exercise are displayed, the PLC 17 transmits the useful images to the characteristic signal processing computer 16 in real time, and the characteristic signal processing computer 16 mutually verifies the hip and knee position rehabilitation exercise images of the patient, the corresponding time and the motion idea characteristic electric signals sent by the cerebral cortex, so that analysis self-learning self-adaption is performed, and the judging and sending command signals are more accurate and suitable.

Claims

1. The utility model provides a signal amplification exercise device based on brain-computer interface, includes and places on ground sick bed (1) and wears electrode cap (2) of patient's head on sick bed (1), characterized by: the utility model discloses a sickbed, a bowl (30) is arranged on the outer side of the sickbed (1), a supporting device (3) is arranged on the outer side of the sickbed (1), a transverse rack (4) along the length direction of the sickbed (1) is arranged on the top of the supporting device (3), a transverse driving gear (5) and a transverse driven gear (6) are arranged on the transverse rack (4), the transverse driving gear (5) is connected with a transverse servo motor (8) through a transverse driving motor shaft (7), the transverse driven gear (6) is connected with a transverse driven motor shaft (9), a transverse connecting plate (10) is connected between the transverse driven motor shaft (9) and the transverse servo motor (8), two rack supporting plates (11) are welded on the transverse connecting plate (10), a longitudinal rack (12) is fixed on the rack supporting plate (11), a movable trolley (13) is arranged on the longitudinal rack (12), a leg fixing device (14) is connected below the movable trolley (13), the leg fixing device (14) comprises an upper arc plate (25) and a lower arc plate (26), two sides of the upper arc plate (25) are fixed with an upper arc plate (27), two sides of the lower arc plate (26) are fixed with a lower arc plate (28), the upper arc plate (27) is fixed with a lower arc cylinder (29), the lower arc plate (29) is connected with a spherical bowl (30), a supporting cover (32) is fixed below the lower cantilever plate (28), fan-shaped plates (33) are uniformly distributed in the upper end of the supporting cover (32), a movable sleeve (34) is sleeved at the lower end of the supporting cover (32), a connecting rod (35) is connected between the fan-shaped plates (33) and the movable sleeve (34), circular grooves (36) are respectively formed in the outer sides of the fan-shaped plates (33), and annular spring steel wires (37) are arranged in the circular grooves (36).

2. The brain-computer interface based signal amplification exercise apparatus of claim 1, wherein: the electrode cap (2) is connected with the signal amplification and filtering processor (15) in a wireless mode, the signal amplification and filtering processor (15) is connected with the characteristic signal processing computer (16), and the characteristic signal processing computer (16) is connected with the display PLC (17).

3. The brain-computer interface based signal amplification exercise apparatus of claim 1, wherein: the mobile trolley (13) comprises a longitudinal driving gear (18) and a longitudinal driven gear (19) which are arranged on a longitudinal rack (12), the longitudinal driving gear (18) is connected with a longitudinal servo motor (21) through a longitudinal driving motor shaft (20), the longitudinal driven gear (19) is connected with a longitudinal driven motor shaft (22), the longitudinal driven motor shaft (22) is arranged on a bearing seat (23), the bearing seat (23) and the longitudinal servo motor (21) are arranged on a horizontal plate (24), and the lower part of the horizontal plate (24) is connected with a leg fixing device (14).

4. The brain-computer interface based signal amplification exercise apparatus of claim 1, wherein: lower ball joint universal joint (38) is connected between lower electronic jar (29) and ball bowl cylinder (30), is connected pull-down pressure sensor (39) between lower ball joint universal joint (38) and lower electronic jar (29), and lower servo motor (40) is connected to lower electronic jar (29).

5. The brain-computer interface based signal amplification exercise apparatus of claim 1, wherein: the lower electric cylinder (29) is connected with the output end of the upper electric cylinder (42) through an electric cylinder connecting plate (41), an upper pull pressure sensor (43) and a middle ball joint universal joint (44) are sequentially connected between the output end of the upper electric cylinder (42) and the electric cylinder connecting plate (41), the upper electric cylinder (42) is connected with an upper servo motor (45), and the upper electric cylinder (42) is connected with the travelling car (13) through an upper ball joint universal joint (46).

6. The brain-computer interface based signal amplification exercise apparatus of claim 1, wherein: the protection cover (48) is arranged below the supporting cover (32) through the permanent magnet (47), the movable sleeve (34) is sleeved on the tubular column body (49) below the supporting cover (32), the hinge shafts (50) are respectively connected between the sector plate (33) and the connecting rod (35) and between the movable sleeve (34) and the connecting rod (35), the hinge shafts (50) are arranged in the narrow slots (51), and the circular arc sections (52) are arranged below the rectangular slots (31).

7. The brain-computer interface based signal amplification exercise apparatus of claim 1, wherein: the inner sides of the upper arc plate (25) and the lower arc plate (26) are respectively provided with a silica gel layer (53), and the silica gel layer (53) is provided with a flexible pressure sensor (54).

8. The brain-computer interface based signal amplification exercise apparatus of claim 1, wherein: a horizontal rod (55) is connected between the transverse racks (4).

9. The brain-computer interface based signal amplification exercise apparatus of claim 1, wherein: the supporting device (3) comprises a supporting tube (56) arranged on the ground, the supporting tube (56) is connected with a frame (58) through an adjusting nut (57), the frame (58) is connected with a reinforcing rib cross rod (59), and an electric cradle head monitoring camera (60) is arranged on the reinforcing rib cross rod (59).