CN117717756A

CN117717756A - Rehabilitation training device and system

Info

Publication number: CN117717756A
Application number: CN202311745408.7A
Authority: CN
Inventors: 刁赛楠
Original assignee: Xuanwu Hospital
Current assignee: Xuanwu Hospital
Priority date: 2023-12-18
Filing date: 2023-12-18
Publication date: 2024-03-19

Abstract

The invention relates to a rehabilitation training device. The rehabilitation training device comprises a sphere, a torsion part comprising a counting assembly and a grip belt connected with the sphere through the torsion part, wherein the pressure sensing assembly is distributed on the surface of the sphere so as to collect the posture of the hand of a patient and the force exerted by the hand of the patient based on the pressure exerted by the hand of the patient on the sphere when a fixed ring formed by the grip belt is sleeved on the hand of the patient; the ball body can rotate relative to the grip band based on the torsion member under the control of an external force, so that the counting assembly arranged on the torsion member can collect the controlled rotation times of the ball body. Compared with the intelligent apoplexy rehabilitation equipment in the prior art, the equipment related to the application, namely the rehabilitation training device, confirms the force application degree of each finger in the patient exercise process by detecting the pressure change value generated by the ball extrusion of the patient so as to confirm whether the patient exercise is effective.

Description

Rehabilitation training device and system

Technical Field

The invention relates to the technical field of medical instruments, in particular to a rehabilitation training device and system.

Background

The rehabilitation exercise of the apoplexy patient can be divided into passive exercise and active exercise, and the active exercise can be performed by the exercise of the passive exercise and the massage exercise, wherein the exercise function of the patient is primarily recovered.

At present, many researches on upper limb rehabilitation intervention measures are carried out, including bioelectric stimulation, traditional Chinese medicine acupuncture, massage, air wave pressure treatment, an electronic robot and the like, but the intervention measures have strong specialization, relatively complex operation, time limitation of places and clinical urgent need for an upper limb rehabilitation training device which is convenient to operate, economical and practical and suitable for household exercise.

Chinese patent with publication number CN111330224a discloses a stroke rehabilitation linkage exercise device. The device comprises a support, a seat plate, a rear cylinder and a front cylinder are arranged on the support, a connecting shaft is arranged on the seat plate, a back plate and a bottom plate are arranged on the connecting shaft, a rear sliding plate is arranged on the back plate, a front sliding plate and a supporting rod are arranged on the bottom plate, a crank, a rocker and an L-shaped rod are arranged on two sides of the supporting rod, a pedal and a connecting rod are arranged on the crank, a connecting rod and a handle rod are arranged on the L-shaped rod, and a cotter pin is arranged on the connecting rod.

Or the Chinese patent with the patent publication number of CN111228084A relates to an upper limb rehabilitation training device, which comprises a storage unit and a control unit, wherein the storage unit is used for storing pre-training data, and the pre-training data are related data of normal upper limbs when the upper limbs move in a natural state; the control unit is used for controlling the upper limb rehabilitation training device to selectively perform finger rehabilitation training and/or upper arm rehabilitation training by taking the pre-training data as training parameters; the finger rehabilitation training comprises rehabilitation training of joints of fingers, and the upper arm rehabilitation training comprises rehabilitation training of at least one of shoulder joints, elbow joints and wrist joints. In the prior art, an automatic device for adjusting a rehabilitation training mode of a patient based on motion detection results of hands and elbows of the patient is widely applied, but is mostly used for detecting a training posture of the patient.

With the deep research on stroke rehabilitation, the research finds that under the condition of no obvious limb activity, the brain of a patient can be activated in a specific area in the brain according to the movement memory by repeated simulation and exercise movement of the inner heart, so as to achieve the aim of improving the movement function. This finding is defined as motor imagery. The research shows that the motor imagery and the upper limb muscle training can achieve the purposes of complementary advantages and mutual promotion in the upper limb rehabilitation training of the patient suffering from the apoplexy.

The related research results show that the training of the upper limb muscles enables the nerve muscles in the excited state to perform specific and effective movements, and the deficiency of single motor imagination is made up; the motor imagery activates the cortex area of the brain part specific motor behavior, so that the action of a patient is smoother when the upper limb trainer is used for performing functional exercise, the action completion degree is higher, and a better exercise effect can be achieved.

Therefore, compared with various devices for exercising the upper limbs of the patient provided in the prior art, the application hopes to provide an automatic device for adjusting the training process based on the muscle state of the patient, which can insert the motor imagery stage into the upper limb exercise process of the patient, so that the upper limb exercise efficiency of the patient can be improved; on the other hand, the muscles of the patient in the tired state can be restored to the excited but tired state in the motor imagery stage, and the comfort of the training of the patient can be improved.

Furthermore, there are differences in one aspect due to understanding to those skilled in the art; on the other hand, since the applicant has studied a lot of documents and patents while making the present invention, the text is not limited to details and contents of all but it is by no means the present invention does not have these prior art features, but the present invention has all the prior art features, and the applicant remains in the background art to which the right of the related prior art is added.

Disclosure of Invention

In order to provide a good upper limb rehabilitation training effect to a patient, grip ball devices for assisting training have been developed in the prior art. For example, patent document with publication number CN116059598A discloses a grip device for assisting training, which comprises a grip ball, a telescopic finger stall, a number display assembly, a finger pressing part, an arm stall, an adjusting strap and a detecting assembly, wherein the telescopic finger stall is fixedly connected to the grip ball, the number display assembly is arranged in the grip ball, the finger pressing part is slidably connected to the upper end of the grip ball, the arm stall is provided with two, the two arm stalls are different in size, the two arm stalls are fixedly connected to the grip ball in a small size, the two arm stalls are connected through the adjusting strap, the grip is transmitted through the telescopic finger stall and the finger pressing part, the detection assembly is used for detecting, the signal generator is used for converting and transmitting signals, and a receiver is arranged outside, and can receive the signal transmitted by the signal generator to display the grip and the number of times reaching the standard grip. According to the technical scheme, the grip strength training and the arm stretching training of the auxiliary patient can be performed simultaneously, and the times of the patient training can be recorded. However, the detection component in this technical scheme sets up inside the grip ball, and detection component is used for detecting the atress of flexible dactylotheca and finger press portion, and the pressure variation in each position on spheroid surface can't be obtained to the grip device this moment in order to produce the hand and grasp the gesture, and then can't reflect the specific gesture of patient's hand and the dynamics that the hand applyed through the device. Meanwhile, the technical scheme can only record the turnover times of the wrist through the signal generated by the L-shaped controller arranged in the grip ball, so that wrist rotation detection of a patient is assisted, the wrist rotation at the moment only involves wrist turnover, the wrist radial side tube and the carpal ulnar side tube of the wrist of the patient cannot be trained through rotating the ball body, the stability of the wrist joint of the patient cannot be improved through operation training of the rotating ball body, and the specific training modes and the training purposes to be aimed at by the two are obviously different. In order to solve the technical problem, the application relates to a rehabilitation training device. The rehabilitation training device comprises a sphere, a torsion part comprising a counting assembly and a grip belt connected with the sphere through the torsion part, wherein the pressure sensing assembly is distributed on the surface of the sphere so as to collect the posture of the hand of a patient and the force exerted by the hand of the patient based on the pressure exerted by the hand of the patient on the sphere when a fixed ring formed by the grip belt is sleeved on the hand of the patient; the ball body can rotate relative to the grip band based on the torsion member under the control of an external force, so that the counting assembly arranged on the torsion member can collect the controlled rotation times of the ball body.

Compared with the prior art, the rehabilitation training device can acquire the posture and applied force information of the hands of the patient in a mode of being worn on the hands of the patient. Based on the above distinguishing technical features, the problems to be solved by the present invention may include: how to improve the accuracy of the hand training of the patient. Specifically, on one hand, the invention can accurately collect the holding postures of different parts on the hand of the patient according to the pressure sensing assemblies distributed on the surface of the sphere, and can analyze the applied forces of different parts according to specific detection data to construct a specific holding posture of the hand, so that whether the holding posture of the patient holding the sphere meets the requirements can be further detected based on the pressure change value of the sphere; on the other hand, the rehabilitation training device can detect the pressure value in the state of holding and applying the force for many times when the patient applies pressure to the ball body, and judge whether the exercise process of the patient is effective or not through the pressure change value of the determined area, so that the efficiency of the rehabilitation training of the hands of the patient is improved.

Further, the beneficial effect of this technical scheme:

dyskinesia or sensory pathways of patients after cerebral stroke are impaired, which leads to dystonia and dyskinesia, and finally produces balance dysfunction, and simultaneously, hemiplegia sequelae after cerebral stroke is a clinical manifestation of movement of one side limb with loss of movement function of trunk core cardiac muscle group.

In the prognosis or rehabilitation process, since one type of exercise posture can only exercise part of the muscle groups of the patient, the clinic will recommend the patient to exercise the upper or lower limbs in various postures.

Generally, autonomous exercise of a patient is accomplished with the aid of a device. In the prior art, the application scene and the using method of the equipment for rehabilitation of cerebral apoplexy are single, for example, a pressure ball for preventing contracture of joints of finger after cerebral apoplexy is disclosed in Chinese patent with patent number of CN 209378373U; or a device which is relatively large in size, complex in structure and complex in operation, such as medical devices for preventing recurrence of acute ischemic stroke disclosed in chinese patent No. CN 213031199U. This also makes current devices challenging for stroke patients with rehabilitation requirements for home-independent rest during use.

The utility model provides a simple structure's rehabilitation training device, the device can set up to multiple mode based on different application scenario. Compared with the prior art, the invention can adjust the corresponding rehabilitation training mode according to different rehabilitation training requirements of patients. Based on the above distinguishing technical features, the problems to be solved by the present invention may include: how to meet different training requirements of hands of different patients. Specifically, for example: when the hand of the patient is in the first posture and needs to exercise the superficial flexor and the deep flexor, the patient achieves the aim of exercising the muscular tension and the muscular strength of the superficial flexor and the deep flexor by holding the ball and squeezing the ball.

At this time, both ends of the grip band are connected to each other to form a fixing ring which is sleeved on the hand of the patient. For patients who are predicted to have stroke, the process of grasping or applying pressure to the ball can cause the hands of the patient with corresponding central nerve damage to shake or increase the frequency of hand shake due to reduced muscle strength. In this process, the sphere is very easily detached from the patient's hand. The grip strap that this application relates to can cup joint patient's hand when the patient is in first gesture to prevent the spheroid that is connected with the grip strap from patient's hand landing.

Meanwhile, when the patient makes the hand in the second posture for exercising the lumbroid muscle and the flexor small muscle groups of the fingers, the patient holds up the grip strap by pinching the fingers, so as to achieve the purpose of exercising the muscle tension and the muscle strength of the lumbroid muscle and the flexor small muscle groups of the fingers.

At this point, the grip strap of the device is spread out and the device is placed in a flat position and in a resting state. The fingers of the patient pinch, select different widths of the grip strips based on their ability to take the grip strips, and pull the ball through the grip strips to a state of separation from the plane of the placement device.

Preferably, the grip strap is provided with at least two regions of different widths, and the patient can select different regions for lifting the device based on the strength recovery of the finger muscle groups.

The grip strips with different widths have different requirements on the fingers of the patient when the user pulls, the narrower the grip strips are, the higher the difficulty of pulling the grip strips and pulling the ball to be separated from the plane of the placement device is, but the better the exercise effect on the finger muscle groups is.

The rehabilitation training device can also be used for training wrists of stroke patients. Preferably, the device is further provided with a securing strap. One end of the fixing belt can be connected with the fixing surface, and the other end of the fixing belt is connected with the grip belt. Two holding force belts which are oppositely arranged on the ball body are respectively connected with the two fixing belts, so that the ball body is suspended. The patient holds the ball body and rotates the ball body, so that the ball body rotates relative to the grip belt.

By rotating the ball body, the wrist radial side tube and the carpal ulnar side tube of the wrist of the patient are exercised, and the stability of the wrist joint of the patient is improved.

Based on the deformation of the device in different application scenes, a patient can finish rehabilitation training with the aid of the device in different hand postures.

Compared with the complex structural design or single application scene in the prior art, the equipment related to the application can meet the needs of the individual stroke patients in the prognosis.

According to a preferred embodiment, at least one of the grip strips is provided with a wide band connected to each other to constrain the sphere when the patient is in a first pose of a spherically gripping and a narrow band to provide the patient with an operating area when the patient is in a second pose of a finger pinch.

The beneficial effects of this technical scheme:

grip strips of different widths have different requirements on the fingers of the patient when being pulled. The structure of the grip strap according to the present application can be such that the device can be guaranteed to have a region (wide band) of pressure cushioning when the device is sleeved on the patient's hand, as well as a region (narrow band) that satisfies the patient's finger muscle group when the patient needs to exercise in the second posture.

According to a preferred embodiment, a plurality of pressure sensing elements are arranged in a lattice on the surface of the sphere to create a hand grip gesture as the pressure at each location on the surface of the sphere is acquired.

The beneficial effects of this technical scheme:

based on the setting method, the device can realize high-precision hand grasping gesture generation and is not limited by the hand gesture.

Specifically, based on the pressure sensing assembly disposed on the sphere, when the patient holds the sphere to increase pressure on the sphere, the sphere can simulate the posture of the patient's hand holding the sphere based on the pressure change values of different areas. On the one hand, whether the posture of the patient holding the sphere meets the requirement or not can be detected based on the pressure change value of the sphere; on the other hand, when the patient applies pressure to the ball, the processor can determine whether the patient's exercise session is valid based on the pressure change value of the determined area.

According to a preferred embodiment, the broadband is provided as an elastic band.

The application relates to a rehabilitation training system. The rehabilitation training system comprises a rehabilitation training device for providing upper limb exercise for a patient, a processor and a detection module for providing prompting motor imagery guidance for the patient, wherein, at intervals of a first training mode of a sphere of the device for exercising hands and a third training mode of a sphere of the device for exercising wrists, the processor triggers the detection module to perform electromyographic signal acquisition on the hand of the patient completing the second training mode in a motor imagery manner so as to confirm an electromyographic signal detection component of the hand muscle state of the patient, so that a twisting sensing component arranged on a torsion piece between a grip band of the device and the sphere can transmit recorded data of the number of times the patient twists the sphere by which the twisting angle is larger than a preset threshold value when exercising the wrists when the electromyographic signal of the hand muscle of the patient enters a first range representing the restoration state of the hand muscle of the patient.

In order to solve the difficult problem of autonomous movement limitation of a clinical early hemiplegia patient, the prior art has presented a technical scheme for assisting the patient to perform active intention cooperative excitation stimulation by combining a treatment mode of a motor imagery and a surface electromyographic signal so as to realize rehabilitation training. For example, patent document with publication number CN116312947a discloses an immersive ankle foot rehabilitation training method based on upper limb movement signals and an electronic device, wherein firstly, the change angle of wrist joints of a user is predicted by a wearable myoelectric sensor, and secondly, two different virtual reality training scenes are designed and developed for dorsiflexion and plantarflexion users; during training, a user wears a virtual reality head-mounted display and myoelectricity monitoring equipment, continuously performs wrist dorsi-extension or wrist-palm flexion, predicts the change angle of a wrist joint in real time through a forearm skin surface myoelectricity sEMG signal, and then maps the change angle to the contralateral ankle of a person in a virtual scene to rotate. According to the technical scheme, through the mode of virtual-real fusion of the myoelectricity of the opposite side hand and the virtual leg movement, the motor imagination liveliness, the illusion of the kinesthesis and the limb attribution sense of the user are improved, so that the purpose of promoting rehabilitation is achieved. However, according to the technical scheme, the change angle of the current wrist joint is predicted in real time by acquiring the skin surface electromyographic signals of the forearm, and the electromyographic signals at the moment are mainly used for mapping the current wrist joint into a virtual scene so that the corresponding arm in the virtual scene starts to rotate, thereby realizing the collaborative stimulation of virtual and real limb fusion. In contrast, the electromyographic signals can be used as start-stop control elements of different training modes, so that the operation imagination stage is inserted in the actual rehabilitation training process of the upper limb exercise of the patient, on one hand, the efficiency of the upper limb exercise of the patient can be improved, and on the other hand, the muscles of the patient in the tired state can be restored to the excited but tired state in the motor imagination stage, and the comfort of the training of the patient is improved. Compared with the prior art, the processor can enter different training modes according to different ranges of the collected electromyographic signals for confirming the muscle state of the hands of the patient. Based on the above distinguishing technical features, the problems to be solved by the present invention may include: how to adaptively adjust the training mode according to the actual state of the hands of the patient so as to improve the effectiveness of the rehabilitation training of the hands of the patient.

Further, the beneficial effect of this technical scheme:

compared with the intelligent apoplexy rehabilitation equipment in the prior art, the equipment related to the application confirms the force application degree of each finger in the exercise process of the patient by detecting the pressure change value generated by the ball extrusion of the patient so as to confirm whether the exercise of the patient is effective. Chinese patent with publication number CN114870325a discloses an intelligent upper limb rehabilitation training device. The training instrument comprises a grip ball, a pressure sensor, a processing unit and a display screen, wherein the pressure sensor is arranged on the grip ball and is used for detecting a pressure signal held by a user; the processing unit is arranged in the holding ball and is electrically connected with the pressure sensor, and is used for obtaining holding times, single pressure value and average pressure value according to the pressure signal conversion; the display screen is arranged on the grip ball and connected with the processing unit for displaying the number of times of holding, the single pressure value and the average pressure value.

In one aspect, the rehabilitation system of the present application is capable of increasing the type of muscle group that a patient can exercise by increasing the patient's exercise posture, as compared to the grip ball disclosed in this prior art; on the other hand, the rehabilitation system can also switch the exercise mode of the patient in real time based on the muscle state of the patient, so that the muscle damage of the patient is avoided.

According to a preferred embodiment, the first training mode of squeezing the sphere of the device for exercising the hands comprises: when the patient holds the sphere of the device by adjusting the hand posture to the first spherically held posture, the processor generates the hand posture for comparison with the standard first posture based on the position information of the pressure sensing component of the pressure change generated by the sphere of the hand squeezing device, and collects the pressure change with the currently recorded position information.

According to a preferred embodiment, the third training mode of twisting the sphere of the device for exercising the wrist comprises: under the third training mode, under the condition that the rotation angle of the ball body relative to the grip strap connected with the ball body exceeds a preset threshold value, the ball body is rotated, so that the rotation times of the ball body recorded by the processor are not less than the preset rotation times.

According to a preferred embodiment, the processor controls the detection module to provide repeated motor imagery guidance of active muscle relaxation to the patient when the processor triggers the detection module to perform electromyographic signal acquisition of the patient's hand in a motor imagery manner to confirm that the electromyographic signal acquired by the electromyographic signal detection assembly of the patient's hand muscle state is a second range indicative of the patient's hand muscle being in a tired state. Compared with the prior art, the processor provided by the invention can be adjusted to a motor imagery training mode according to the collected myoelectric signals representing the tired hand muscles of a patient. Based on the above distinguishing technical features, the problems to be solved by the present invention may include: how to insert and run the imagination training process according to the actual training state of the hands of the patient so as to prevent the patient from muscle damage caused by excessive muscle training. Specifically, motor imagery and upper limb muscle training can reach complementary, the purpose that promotes each other of advantage in the rehabilitation training of apoplexy patient upper limbs, and motor imagery process can make the patient more smooth and easy in the action of using upper limb training ware to carry out function exercise, and the action completion degree is higher, can reach better exercise effect.

According to a preferred embodiment, the motor imagery comprises: and the audio frequency is provided by the detection module and used for guiding the patient to imagine that the upper limb lifts, the hand is adjusted to be in the first posture and/or the second posture and the wrist rotates circumferentially.

According to a preferred embodiment, in the third training mode, the processor counts based on the number of revolutions last recorded when the angle of the rotating sphere is less than a preset threshold.

According to a preferred embodiment, in case the number of times the patient presses the sphere recorded by the processor is smaller than a preset threshold value, the processor generates a hand gesture of the patient currently holding the sphere based on the position information of the pressure sensing component where the pressure change occurs when the pressure change value of the patient pressing the sphere is smaller than the preset threshold value. In particular, in the above case, the processor does not count the current number of pressure changes into the count total in the first training mode.

According to a preferred embodiment, in the case that the number of times the patient twists the ball recorded by the processor is smaller than a preset threshold value, when the rotation angle of the ball twisted by the patient is smaller than the preset threshold value, the processor generates the hand gesture of the patient currently holding the ball based on the position information of the pressure sensing component with the pressure change. In particular, in the above case, the processor does not count the current number of ball revolutions into the count total in the third training mode.

When rehabilitation training is carried out on muscles of a patient, the muscles of the patient are in tension for a long time in the process of training, and the patients suffering from stroke prognosis can have intermittent shake and/or weakness due to the influence of central nerves. Muscle weakness and muscle tremors that occur during or on the patient's exercise of the upper limb can affect the patient's training continuity.

The device provided by the application can not count this operation into the total count value (the counting mode is discontinuous in the same training mode) when the patient is affected and the operation standard below the set threshold appears in the training process when the patient is in the first training mode and the third training mode.

Meanwhile, when a patient is in a state of muscle weakness or muscle tremors, the posture of the hand holding the ball may be changed. Based on the position corresponding to the pressure sensing component which is acquired to be lower than the pressure change value of the preset threshold, the processor detects hand gesture signals generated when the patient operates the ball again. When the patient adjusts the posture of the hand holding sphere due to hand shake or weakness, the processor can readjust and select the pressure sensing component that transmits the corresponding region of pressure change values that can be analyzed for data based on the standard holding posture.

The beneficial effects of this technical scheme:

based on the setting, when muscle weakness or muscle shake occurs to the patient, the posture of the holding ball of the patient can be repositioned or corrected, so that errors generated by data acquisition due to irregular actions when the patient holds the ball are reduced, and the effectiveness of the patient in holding the ball is improved.

On the one hand, when the patient suffers from muscle weakness or muscle tremble, the training actions which do not reach the standard do not account for the total count value, so that the training effectiveness is ensured; on the other hand, the position of the hand holding the ball after shaking or taking off the hand may change, so that the pressure change value acquired by the pressure sensing component processed by the processor has an acquisition error with the pressure change value actually born by the ball. For example: based on the position corresponding to the initially confirmed pressure sensing component capable of receiving the pressure change value, the processor receives the pressure change value which is transmitted by the corresponding position and is larger than a preset threshold value. When the processor receives a pressure change value transmitted from the corresponding location that is less than a preset threshold, it indicates that the patient is limited by muscles and/or the central nerve and that muscle weakness and/or tremors occur during exercise. Based on the possible change in position and posture of the hand holding sphere of the patient in this state, the processor reconfirms the pressure sensing assembly transmitting the pressure change values for which data analysis can be performed.

It should be noted that the system according to the present application is also applicable to hemiplegic patients caused by central lymphomas. Central lymphomas are caused by invasion of the center by a primary or systemic lymphoma. Lymphomas can cause functional injury of lesion sites, and even if the focus of the lymphomas disappears after receiving radiotherapy and chemotherapy, the central nervous system functions of partial patients still have a certain degree of irreversible injury, leaving the problem of muscular control disorder. For such patients, after receiving radiotherapy and chemotherapy, problems of muscular control disorder can occur due to irreversible damage of the lesion site. The rehabilitation training device is suitable for patients with such prognosis rehabilitation. The rehabilitation system can effectively improve the rehabilitation effect of patients through the rehabilitation system.

Drawings

FIG. 1 is a schematic diagram of a rehabilitation training device according to the present invention;

FIG. 2 is a schematic illustration of the use of the rehabilitation training device provided by the invention with a patient's hand in a first position;

FIG. 3 is a schematic view of a rehabilitation training device according to the present invention with a patient's hand in a second position;

FIG. 4 is a schematic diagram of the rehabilitation training device for stretching a patient according to the present invention;

FIG. 5 is a schematic illustration of the use of the rehabilitation training device provided by the present invention with a patient in a third training mode;

FIG. 6 is a view of an application scenario in a first training mode provided by the present invention;

FIG. 7 is a view of an application scenario in a second training mode provided by the present invention;

FIG. 8 is a view of an application scenario in a third training mode provided by the present invention;

FIG. 9 is a block diagram of a counting assembly provided by the present invention;

FIG. 10 is a block diagram of a pressure sensing assembly provided by the present invention.

List of reference numerals

100: a sphere; 110: a pressure sensing assembly; 200: a grip belt; 210: a narrow band; 220: a broadband; 230: a connecting piece; 300: a torsion member; 310: a receiving chamber; 320: an angle sensor; 330: a mobile power supply; 340: a main shaft; 400: a first direction; 500: a fixing belt; 600: a processor; 700: and a detection module.

Detailed Description

The following detailed description refers to the accompanying drawings.

In the description of the present invention, the terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," etc. should be construed broadly, and may be either fixed, detachable, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The meaning of "a number" is two or more, unless explicitly defined otherwise. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. In a medical instrument, the proximal end refers to the end of the instrument that is closer to the operator when in operation, and the distal end refers to the end of the instrument that is farther from the operator or that is in a corresponding operation to the patient when in operation.

The standard first posture is a standard motion preset in the system that is consistent with the patient holding the ball 100.

Example 1

The embodiment provides a rehabilitation training device.

The rehabilitation training device comprises a ball 100, a torsion 300 including a counting assembly, and a grip strap 200 connected to the ball 100 through the torsion 300, as shown in fig. 1. The two opposite ends of the ball 100 are provided with torsion members 300, and the two grip strips 200 are connected with the ball 100 through the torsion members 300 and are also oppositely arranged, as in the suspended ball 100 shown in fig. 5, when the grip strips 200 at the two ends of the ball 100 are in a straightened state, the ball 100 in the suspended state can rotate relative to the grip strips 200 when being influenced by external force. Under the control of an external force, the ball 100 can rotate relative to the grip band 200 based on the torsion 300, such that a counting assembly provided on the torsion 300 gathers the number of controlled rotations of the ball 100.

Fig. 2 shows the device in use when a patient is holding the ball 100, and as shown in fig. 2, the grip strap 200 is self-attached at both ends by means of the attachment members 230 provided and forms a securing loop. The fixing ring can be sleeved on the hand of the patient.

Specifically, the fixation ring is capable of fixing the relative position of the sphere 100 and the patient's hand when the patient's hand applies pressure to the sphere 100. When the problem that the sphere 100 is separated from the hand occurs due to weakness, shake or collision of the hand of the patient, the fixing ring connected with the sphere 100, which is sleeved on the hand of the patient, can fix the sphere 100 in the hand of the patient.

According to a preferred embodiment, as shown in FIG. 1, the grip strap 200 includes a narrow band 210 and a wide band 220. The width of the band 220 is greater than the width of the band 210. The wide band 220 portion prevents significant pressure on the patient's hand (or, alternatively, the patient's hand may be scored) when the grip strap 200 is self-attached at both ends. Preferably, the narrow band 210 is disposed on a side near the sphere 100 and the wide band 220 is disposed on a side far from the sphere 100. When the patient holds the sphere 100, a portion of the area of the strap 210 is suspended and the entire area of the strap 220 is fitted to the hand. Preferably, the wide band 220 is provided as a band having elasticity. Preferably, the connection 230 is a clasp.

As shown in fig. 3, when the portion of the strap 210 is taken by pinching the patient's fingers, the ball 100 can be lifted relatively easily when the device is lifted, since the strap 210 is close to the ball 100.

According to a preferred embodiment, the narrow bands 210 of the grip strap 200 disposed at both ends of the ball 100 have different strap widths.

Preferably, the device is further provided with a fixing band 500 respectively connected to the grip bands 200 provided at both ends of the ball 100. As shown in FIG. 5, one end of the securing strap 500 can be attached to the securing surface and the other end can be attached to the grip strap 200. The two grip strips 200 opposite to the ball 100 are respectively connected with the two fixing strips 500, so that the ball 100 is suspended. The patient holds the ball 100 and rotates the ball 100 so that the ball 100 rotates relative to the grip strap 200.

The surface of sphere 100 is provided with pressure sensing elements. Based on the pressure applied by the patient's hand to sphere 100, the pressure sensing assembly captures the posture of the patient's hand and the force applied by the hand. Preferably, a plurality of pressure sensing components are arranged in a lattice on the surface of the sphere 100 to generate a hand grip gesture when the pressure at each position on the surface of the sphere 100 is changed. Preferably, the pressure sensing component is a patch type pressure sensor.

According to a preferred embodiment, the torsion member 300 comprises a counting assembly. Preferably, the counting assembly is a counting gear.

According to a preferred embodiment, the rehabilitation training device can also be used for stretching movements, as shown in fig. 4. The patient holds the grip strap 200 on both ends and pulls the grip strap 200 in the first direction 400.

As shown in fig. 4, the first direction 400 is the direction of extension of the grip tape 200.

Example 2

This embodiment is consistent with the hardware-wise arrangement of the previous embodiments, and only improves upon data acquisition and processing.

The present embodiment includes a rehabilitation training device for training, a processor 600 and a detection module 700.

The position of the rehabilitation training device contacting the hand of the patient is provided with a pressure sensing component, wherein based on the training content of the patient, the processor 600 processes the pressure change value transmitted by the pressure sensing component for sensing the stress gesture of the hand of the patient. Preferably, the detection module 700 has a function of playing audio. Preferably, the detection module 700 is a smart bracelet capable of signaling with the processor 600.

When the device is in a first training mode for providing muscle rehabilitation exercises to the patient, as shown in fig. 6, the processor 600 records the number of pressure changes by which the pressure difference transmitted by the pressure sensing assembly provided on the sphere 100 of the device is greater than a preset threshold, according to the position where the patient's hand is attached to the device.

When the number of pressure changes reaches a preset threshold, the detection module 700, which is connected to the patient in real time, prompts the patient to enter a second training mode of motor imagery, as shown in fig. 7.

When the detection module 700 completes the playing of the prompting audio for motor imagery by the patient, and the myoelectric signal of the muscle tissue corresponding to the last hand exercise of the patient enters the first range representing the restoration of the muscle tissue of the patient to normal, the processor 600 triggers the turning on of the torsion sensor assembly provided on the torsion member 300 between the grip band 200 and the ball 100 of the device to record the number of times the patient twists the ball 100 by which the angle of torsion is greater than the preset threshold while exercising the wrist, as shown in fig. 8.

When the patient is guided to attach the hand to the sphere 100 of the device and the processor 600 senses that the hand of the patient is in a correct force-exerting posture based on the pressure sensing component of the sphere 100, the processor 600 records the number of pressure changes that the pressure difference transmitted by the pressure sensing component arranged on the sphere 100 of the device is greater than a preset threshold, and triggers the detection module 700 to prompt the patient to enter a second training mode of motor imagery when the number of pressure changes reaches the preset threshold.

Example 3

When the device is in a first training mode providing muscle rehabilitation exercise to the patient, the processor 600 records the number of pressure changes by which the pressure difference transmitted by the pressure sensing assembly provided on the sphere 100 of the device is greater than a preset threshold, depending on the position of the patient's hand in contact with the device.

When the number of pressure changes reaches a preset threshold, the detection module 700 connected in real time with the patient prompts the patient to enter a second training mode of motor imagery,

when the detection module 700 completes the playing of the prompting audio for motor imagery by the patient and the electromyographic signals of the muscle tissue corresponding to the last hand exercise of the patient enter a second range representing that the muscle tissue of the patient is in a state of fatigue, the processor 600 controls the detection module 700 to provide repeated motor imagery guidance of active muscle relaxation for the patient.

Preferably, the motor imagery guidance provided to the patient comprises: completing 4 imagination training projects surrounding different contents of target muscle groups or joint parts of a patient to be improved under the guidance of prompt audio, wherein each project is used for <2min; the cup holder comprises a cup which is imagined to extend out of a hand to hold the cup on a table, then the cup is moved to the mouth, and water in the cup is slowly drunk; imagine that the upper limb of the patient lifts up and then restores; imagine that the five fingers of the user try to stretch and then make a fist; imagine that he holds a table tennis ball placed in the abdomen by his hands. Each imagination task is guided repeatedly for 1-5 times. Finally, the patient is focused on the body and surrounding environment for 1-2 min, the audio frequency is prompted to count down 10 numbers, and when the number is 1, the patient opens the eyes to finish training, and the total treatment is 15min.

Motor imagery guidance to provide repeated active muscle relaxation to a patient includes:

the patient is led to concentrate on his body and surrounding environment under the guidance of the prompt audio.

Until the patient's electromyographic signals enter a first range that characterizes the patient's muscle state returning to normal, the processor 600 triggers the twist sense assembly on the torsion member 300 disposed between the grip strap 200 and the ball 100 of the device to turn on to record the number of times the patient twists the ball 100 by an angle greater than a preset threshold while exercising the wrist.

Example 4

The patient is guided to fit the hands to the sphere 100 of the device. The processor 600 senses the pose of the patient's hand based on the pressure sensing component of the sphere 100.

Based on the patient generated hand grip gesture signal, the processor 600 can control the detection module 700 to alert and direct the patient to adjust the grip gesture when no pressure value is detected in a portion of the area and/or a portion of the non-hand placement area detects a pressure value.

Preferably, when the areas where the pressure values are detected (finger corresponding portions) are connected, indicating that the patient's fingers are in a closed holding state (abnormal posture), the processor 600 controls the detection module 700 to issue a warning until four areas where the pressure values are not detected exist between the areas where the pressure values are detected (finger corresponding portions).

The processor 600 records the number of pressure changes that the pressure sensing assembly provided on the sphere 100 of the device transmits, and triggers the detection module 700 to prompt the patient to enter the motor imagery second training mode if the number of pressure changes reaches a preset threshold.

when the detection module 700 completes the playing of the prompting audio for motor imagery by the patient, and the electromyographic signal of the muscle tissue corresponding to the last hand exercise of the patient enters the first range representing the restoration of the muscle tissue of the patient to normal, the processor 600 triggers the turning on of the torsion sensor assembly provided on the torsion member 300 between the grip band 200 and the ball 100 of the device to record the number of times the patient twists the ball 100 with a twisting angle greater than a preset threshold while exercising the wrist.

Example 5

The position of the rehabilitation training device contacting the hand of the patient is provided with a pressure sensing component, wherein based on the training content of the patient, the processor 600 processes the pressure change value transmitted by the pressure sensing component for sensing the stress gesture of the hand of the patient.

when the detection module 700 completes the playing of the prompting audio for motor imagery by the patient and the electromyographic signal of the musculature corresponding to the last hand exercise of the patient enters a first range representing that the musculature of the patient is restored to normal, the processor 600 triggers the actuation of the twist sense assembly provided on the torsion member 300 between the grip strap 200 and the ball 100 of the device.

The processor 600 records the number of times the patient exercising the wrist twists the ball 100 by an angle greater than a preset threshold. When the myoelectric signal detection element disposed on the patient's flexor detects that the patient's myoelectric signal of the flexor that contributes most to wrist twisting characterizes the flexor as being tired, the processor 600 stops counting and directs the patient to stop rotating the wrist.

When the myoelectric signal detection element provided to the flexor of the patient detects that the myoelectric signal of the flexor of which the patient has the highest contribution to wrist twisting represents that the flexor is restored to the normal state, the processor 600 directs the patient to re-rotate the sphere 100, and starts counting with the count total value before the count is stopped as the count start point.

Example 6

The embodiment provides a rehabilitation training detection method.

The rehabilitation training detection method comprises a first training mode for training the hand of a patient, a second training mode for training the muscle and nerve coordination of the patient and a third training mode for training the wrist of the patient, wherein the second training mode is completed between the first training mode and the third training mode in a continuous training process.

The first training mode is for exercising the hands of the patient. The second training mode is to stimulate cortical nerves (including central nerves) of the patient based on a motor imagery method, and improve the control accuracy of muscles of the patient. The third training mode is for exercising the wrist joint of the patient.

Example 7

As shown in fig. 9, the torsion member 300 is provided with a receiving cavity 310, and an angle sensor 320, a mobile power source 330 and a main shaft 340 are disposed in the receiving cavity 310. One end of the main shaft 340 is connected to the grip band 200, and the other end is connected to the ball 100 through the accommodation chamber 310. The angle sensor 320 is electrically connected to the mobile power source 330, and the processor 600 can receive the angle data transmitted from the angle sensor 320 and convert the transmitted angle data into the number of rotations of the spindle 340.

When the detection module 700 completes the playing of the prompting audio for motor imagery by the patient, and the electromyographic signal of the musculature corresponding to the last hand exercise by the patient enters the first range representing the restoration of the musculature by the patient to normal, the processor 600 triggers the twist sensing assembly (i.e., the angle sensor 320 and the mobile power supply 330) disposed on the torsion 300 between the grip strap 200 and the ball 100 of the device to turn on.

When the patient holds the ball 100 and twists the ball 100, the twist sensor assembly is in operation and begins counting.

When the patient is in the first training mode, the torsion 300 is in a dormant state, and the torsion 300 does not record or collect the angle change data generated by the patient holding the ball 100 or twisting the ball 100.

Example 8

As shown in fig. 10, the pressure sensing elements 110 can be disposed in a hand shape, that is, five pressure sensing elements 110 are disposed at least on the surface of the sphere 100, and the disposed positions of the pressure sensing elements 110 are displayed on the surface of the sphere 100 in an image manner (limited by the limitation of the display surface of the perspective view, and fig. 10 does not show the entire five pressure sensing elements 110).

With the patient in the first training mode, the pressure sensing elements 110 distributed on the sphere 100 are able to confirm that the hand posture of the patient is five finger grip (i.e., the five pressure sensing elements 110 all feel pressure) by the pressure generated by the patient's hand squeezing. Meanwhile, during the training process, when at least three of the five pressure sensing components 110 do not experience a pressure change, the processor 600 does not count the number of exercises.

With the patient in the second training mode, the pressure sensing assemblies 110 distributed over the sphere 100 sense the pressure of the patient's hand. Since the second training mode is a training mode that prompts the patient to enter motor imagery, when the pressure sensing assembly 110 senses pressure, the processor 600 generates instructions that prompt the patient to relax the hands.

It should be noted that the above-described embodiments are exemplary, and that a person skilled in the art, in light of the present disclosure, may devise various solutions that fall within the scope of the present disclosure and fall within the scope of the present disclosure. It should be understood by those skilled in the art that the present description and drawings are illustrative and not limiting to the claims. The scope of the invention is defined by the claims and their equivalents. The description of the invention includes a plurality of inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally" each meaning that the corresponding paragraph discloses a separate concept, the applicant reserves the right to filed a divisional application according to each inventive concept. Throughout this document, the word "preferably" is used in a generic sense to mean only one alternative, and not to be construed as necessarily required, so that the applicant reserves the right to forego or delete the relevant preferred feature at any time.

Claims

1. A rehabilitation training device is characterized by comprising a sphere (100), a torsion member (300) comprising a counting assembly and a grip strap (200) connected with the sphere (100) through the torsion member (300), wherein,

The pressure sensing components are distributed on the surface of the ball body (100) so as to collect the posture of the hand of the patient and the force exerted by the hand based on the pressure exerted by the hand of the patient on the ball body (100) when the fixed ring formed by the grip strap (200) is sleeved on the hand of the patient;

the ball (100) is capable of rotating relative to the grip strap (200) based on the torsion (300) under control of an external force, such that a counting assembly provided on the torsion (300) collects the number of controlled rotations of the ball (100).

2. Rehabilitation training device according to claim 1, characterized in that at least one of the grip strips (200) is provided with a wide band (220) connected to each other, which constrains the sphere (100) when the patient is in a first pose of a ball grip, and a narrow band (210) providing the patient with an operating area when the patient is in a second pose of a finger pinch.

3. The rehabilitation training device according to claim 1, characterized in that a plurality of the pressure sensing components are arranged on the surface of the sphere (100) in a lattice manner so as to generate hand gripping gestures when pressure changes at various positions on the surface of the sphere (100) are acquired.

4. Rehabilitation training device according to claim 2, characterized in that the broadband (220) is provided as an elastic band.

5. A rehabilitation training system comprising a rehabilitation training device for providing upper limb exercises to a patient, a processor (600) and a detection module (700) for providing a prompting motor imagery guidance to the patient, wherein,

at intervals between a first training mode in which the ball (100) of the device is squeezed to exercise the hand and a third training mode in which the ball (100) of the device is twisted to exercise the wrist, the processor (600) triggers the detection module (700) to perform electromyographic signal acquisition of the hand of the patient completing the second training mode in a motor imagery manner to confirm the electromyographic signal detection assembly of the patient's hand muscle state to enable a twist sensing assembly provided on a torsion member (300) between the grip strap (200) of the device and the ball (100) to transmit to the processor (600) the recorded number of times the ball (100) is twisted by an angle greater than a preset threshold value when the electromyographic signal of the patient's hand muscle enters a first range indicative of the patient's hand muscle returning to a normal state.

6. The rehabilitation training system according to claim 5, characterized in that the first training mode of squeezing the sphere (100) of the device for exercising the hands comprises:

When a patient holds a sphere (100) of the device by adjusting the hand posture to a first spherical gripping posture, the processor (600) generates a hand posture for comparison with a standard first posture according to position information of a pressure sensing component of pressure change generated by pressing the sphere (100) of the device by the hand, and acquires the pressure change according to the currently recorded position information.

7. The rehabilitation training system according to claim 6, characterized in that the third training mode of twisting the sphere (100) of the device for exercising the wrist comprises:

in a third training mode, when the rotation angle of the ball (100) relative to the grip strap (200) connected with the ball exceeds a preset threshold value, the ball (100) is rotated, so that the rotation number of the ball (100) recorded by the processor (600) is not less than the preset rotation number.

8. The rehabilitation training system according to claim 7, characterized in that when the processor (600) triggers the detection module (700) to perform myoelectric signal acquisition on the hand of the patient completing the second training mode in a motor imagery manner to confirm that the myoelectric signal acquired by the myoelectric signal detection component of the hand muscle state of the patient is a second range characterizing the hand muscle of the patient in a tired state, the processor (600) controls the detection module (700) to provide repeated motor imagery guidance of active muscle relaxation for the patient.

9. The rehabilitation training system according to claim 7, characterized in that said motor imagery comprises:

audio provided by the detection module (700) for guiding the patient to imagine upper limb lifting, hand adjustment to the first and/or second pose and wrist circumferential rotation.

10. The rehabilitation training system according to claim 5, characterized in that in a third training mode, the processor (600) counts based on the number of revolutions last recorded when the angle of the rotating sphere (100) is smaller than a preset threshold.