JP2018061834A - 上下肢運動機能回復用機器 - Google Patents
上下肢運動機能回復用機器 Download PDFInfo
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- JP2018061834A JP2018061834A JP2017184361A JP2017184361A JP2018061834A JP 2018061834 A JP2018061834 A JP 2018061834A JP 2017184361 A JP2017184361 A JP 2017184361A JP 2017184361 A JP2017184361 A JP 2017184361A JP 2018061834 A JP2018061834 A JP 2018061834A
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- lower limb
- limb motor
- robot arm
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Abstract
【解決手段】本機器は、コンパクトで、携帯可能で、軽量で、持ち運びが容易である上、1台の患者肢体遠端のための装置、1台のロボットアーム、1つのギアシステム、2台のモーター、1つの仮想及び/又は拡張現実のソフトウェア、1つの管理制御システムが含まれていることにより、3次元空間で運動と訓練が実行できるようになる。そのため、ニューロパチー性、筋骨格性、筋肉性、リウマチ性、運動器性及び/又は認知性の疾患あるいは障害を持っている患者、並びに、手術後の回復中患者、も訓練ができ、上肢及び/又は下肢の動きが回復できるようになる。その上、本機器は体力トレーニング及びフィットネスにも利用される。
【選択図】図9
Description
Claims (32)
- 上下肢運動機能回復用機器において、3次元空間内で曲線軌道で運動及び訓練の実行が可能であることと、
重力の影響により患者の肢体が空中に浮いている様子で、当該肢体を肢体遠端部のみで前記機器に結び付けることと、並びに、
(A)1台の患者肢体遠端に接続する装置、
(B)1台のロボットアーム、
(C)1つのギアシステム(2台の対立ギアと1台のスパイダーギアと1つの接続要素で形成される)、
(D)2台のモーター、
(E)好適には2台の減速箱、
(F)1台又は2台のデバイスドライバ、
(G)1つの仮想および/または拡張現実ソフトウェア、
(H)1つの管理・制御システム、及び、
(I)1台のテレビ画面、コンピューターのモニター、プロジェクター、あるいは患者が前記仮想および/または拡張現実ソフトウェアを視認可能とする他手段
を有すること、を特徴とする機器。 - 請求項1に記載の上下肢運動機能回復用機器において、上肢遠端に接続する装置は、球形、患者の指や手にフィットする解剖学的な形、ハンドル形、ジョイスティック形、あるいは、患者の手がしっかり把持できるような他形状、を有することを特徴とする機器。
- 請求項2に記載の上下肢運動機能回復用機器において、前記上肢遠端に接続する装置は、球形又は患者の指や手にフィットする解剖学的な形を有することを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記肢体遠端に接続する装置は、患者が前記装置を握ったり押したりして、仮想および/または拡張現実ソフトウェアから視覚的か音響的か他のタイプの刺激を得ることを可能とする感知器を有することを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、下肢遠端に接続する装置は、球形、楕円体形、ボード形、ペダル形、あるいは、足の配置を可能にする他の形状、を有することを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、患者肢体遠端と前記装置の接続は、手袋又は靴下、ないしは、面ファスナーテープ又は面ファスナーベルト、で行われることを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記装置は、シリコン、プラスチック、ポリマー、エラストマー、ポリエチレンフォーム、木材、金属、あるいは他素材で造られ、表面コーティング、テクスチュア、あるいはエンボス加工が現存してもしなくてもよいことを特徴とする機器。
- 請求項7に記載の上下肢運動機能回復用機器において、前記装置は、シリコンで造られることを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記装置とロボットアームとの接続は、固定接続、それとも、ベアリングシステム, ユニバーサルジョイントあるいは球面ジョイントによって行われることを特徴とする機器。
- 請求項9に記載の上下肢運動機能回復用機器において、前記装置と前記ロボットアームとの接続は、ベアリングシステム、ユニバーサルジョイントあるいは球面ジョイントを利用することを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記ロボットアームは、1cm〜100cmの長さの長ロッドと5cm〜50cmの長さの短ロッドとを有することを特徴とする機器。
- 請求項11に記載の上下肢運動機能回復用機器において、前記ロボットアームの前記長いロッドと前記短いロッドは、ストレート又は曲がっている形状を有して、前記ロッド間の結合は、任意の角度を形成することを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記ロボットアームは、1本だけのロッドを有して、前記ロッドは、5cm〜100cmの長さを有して、ストレート又は曲がっている形状を有することを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記ロボットアームは、金属、プラスチック、木材、ポリマー、あるいは他素材で造られ、表面コーティング、エンボス加工、あるいはテクスチュアが現存してもしなくてもよいことを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記ロボットアームは、そのコアが、金属、プラスチック、木材、ポリマー、あるいは他素材で造られ、表面コーティング、エンボス加工、あるいはテクスチュアが前記素材で造られていることを特徴とする機器。
- 請求項15に記載の上下肢運動機能回復用機器において、前記ロボットアームは、金属で造られるコアと、プラスチックでの表面コーティングと、を有することを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記ロボットアームは、前記スパイダーギアに、ネジ、ピン、接着剤、のり、あるいは他固定方法などで接着されることを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記対向ギアは、それぞれの前記モーターに半軸及び/又はブシュで接続されることを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記スパイダーギアは、前記接続要素に固定用ピンで接続され、前記対向ギアに垂直に位置していることを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記全ギアは、円錐形又は半球状の形状であり、直歯又は螺旋歯を有し、緩み又はバックラッシュ防止機構を有しても有しなくてもよいことを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記接続要素は、角柱状又は円柱状のようなプリズム型、球形、または、多面体状の形状、を有することを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記各対向ギアとそれぞれの前記モーターの間に1台の減速箱を有することを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記モーターは、0.05Nm〜50Nmのトルクと、位置感知器と、を有することを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記モーターは、ぞれぞれの前記対向ギアに整列されるか、あるいはそれらに垂直に位置決めされることを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記デバイスドライバは、前記管理・制御システムより論理信号を受信し、前記論理信号を電気信号に変換し、前記モーターへ前記電気信号を送信することを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記仮想および/または拡張現実ソフトウェアは、親しみやすく、遊び心があって、意欲を起させるグラフィカルインターフェースを有し、人々の日常生活場面をシミュレーションするために映像、色彩、音響を持つゲーム、シナリオ、環境を含み、患者の動作を表示し、患者の動作修正も表示し、シングルユーザー用又はマルチプレイヤー用であることを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記仮想および/または拡張現実ソフトウェアは、そのデータベースに、運動機能回復用又は体力トレーニング及びフィットネス用の訓練に関する情報やデータを保存することを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記管理・制御システムは、患者の各動作実行からできた軌道、力及び加速度を計算し、前記デバイスドライバに論理信号を送信し、受けたフィードバックに応じて前記患者動作の軌道、力及び加速度を再計算し、患者の動作修正用信号を送信し、動作修正を画面に表示するべく前記仮想および/または拡張現実ソフトウェアに論理信号を送信することを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、USB、VGA、HDMI及び/又はDVIのような業界標準フォーマットのビデオポートを有することを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、当該機器の制御インターフェース機能へのアクセスのために、タブレットのようなタッチスクリーンデバイス、又はキーボード及びマウスのような外部デバイス、を有することを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、コンパクトで、携帯可能で、軽量で、持ち運びが容易で、利用の際に格別の適合設備は必要がないことを特徴とする機器。
- 請求項1に記載の上下肢運動機能回復用機器において、前記仮想および/または拡張現実ソフトウェアのゲーム、シナリオ、及び環境を視認できるための眼鏡を利用してもよいし利用しなくてもよいことを特徴とする機器。
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JP2021101961A (ja) * | 2019-12-25 | 2021-07-15 | 医療法人偕行会 | 透析患者運動支援システムおよび透析患者運動支援装置ならびにその方法およびプログラム |
JP2023089894A (ja) * | 2021-12-16 | 2023-06-28 | ▲シュ▼▲ワン▼ 許 | インタラクティブな拡張現実を利用した手のリハビリシステム |
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EP3299003B1 (en) | 2019-08-14 |
BR102016022139B1 (pt) | 2020-12-08 |
US20180085616A1 (en) | 2018-03-29 |
RU2756370C2 (ru) | 2021-09-29 |
JP6928952B2 (ja) | 2021-09-01 |
KR102154320B1 (ko) | 2020-09-16 |
PT3299003T (pt) | 2019-11-05 |
CN111449903A (zh) | 2020-07-28 |
RU2017132495A (ru) | 2019-03-20 |
CN107865751A (zh) | 2018-04-03 |
RU2017132495A3 (ja) | 2020-11-05 |
MX2017011947A (es) | 2019-05-30 |
US10709923B2 (en) | 2020-07-14 |
KR20180034275A (ko) | 2018-04-04 |
EP3299003A1 (en) | 2018-03-28 |
BR102016022139A2 (pt) | 2018-04-10 |
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