CN103735270A - Meridian circulation, dredging, guiding and feedback rehabilitation training system for upper-limb potential development - Google Patents
Meridian circulation, dredging, guiding and feedback rehabilitation training system for upper-limb potential development Download PDFInfo
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Abstract
The invention provides a meridian circulation, dredging, guiding and feedback rehabilitation training system for upper-limb potential development, and belongs to the field of upper-limb function rehabilitation equipment. The meridian circulation, dredging, guiding and feedback rehabilitation training system is characterized by being a man-computer conversation type system which combines Chinese physical and breathing exercises with meridian transmission and conducts central-nervous potential development and upper-limb movement function reconstruction, wherein the agonistic muscle signal curve simulation elevation is set, a sequence from weak signals to strong signals is formed according to a movement program, meridian dredging and regulation of qi and blood are conducted under the guidance of matched audio and video six-step traditional Chinese medical meridian guiding training, and a ready state before potential development is formed. The computer is used for calculating the elevation differences between elbow joint angles and biologic current curves of normal persons and patients at different limb movement positions, reconstruction of the movement program and other types of training can be conducted in a targeted mode, and therapeutic effects are improved.
Description
Technical field
The invention belongs to and follow through leading network guiding feedback rehabilitation training system technical field.
Background technology
Central nervous system's (Central nervous system, CNS) plasticity is mainly by functional training, excavates damage zone normal cell around in CNS system, and the mode of recombinating by function substitutes damage zone cell, recovers the motor function of limbs.Relatively thick, simple limb action, the negligible amounts of required motor neuron, on the contrary meticulousr, action is more complicated, the quantity of arranging this required motor neuron of moving is more, therefore the recovery of apoplexy hemiplegic patient by upper function recovers slow compared with lower limb.Neural instruction and guide upper limb development of potential training; can improve preferably old hemiplegic patient's upper extremity exercise function; upper limb development of potential training under the guiding of Six Steps traditional Chinese medical science guiding art; system excavates neural potential by building " crisis state " of safety, improves the motor function in all joints of apoplexy hemiplegic patient by upper.The equipment that existing training patient upper limb is used, is main mainly with the passive exercise of upper limb, lacks patient's active exercise, therefore can not effectively develop brain potential.Therefore, the upper limb trainer material of hemiplegic patient's application, in fact can not make the real exploitation CNS potential of patient.Up to the present, there is not yet the report with similar upper limb development of potential exercise equipment training patient upper extremity function both at home and abroad.
Summary of the invention:
Object of the present invention, is to provide the network that follows that a kind of upper limb development of potential is used to lead network guiding feedback rehabilitation training system.
Feature of the present invention, then a kind of " people-machine " dialog mode, under remedial gymnast instructs based on Six Steps traditional Chinese medical science guidance method, by the active exercise of patient's upper limb carry out the exploitation of Ipsilateral potential function of sport, follow through leading network guiding feedback rehabilitation training instrument.This instrument for training is comprised of computer, dual image display type training screen, sensor and upper extremity exercise development of potential exercise equipment, wherein:
Computer:
Be provided with: CCD photographic head, the input port of the articular dyskinesia image of the suffered training of the output ill upper limb of patient.
The electrode output that the suffered training joint of patient's ill upper limb connects, reflects that ill upper limb trained the bioelectric current input port of articular dyskinesia.
Also be provided with:
Sound with image is dubbed explanation module: the module of relation between meridians conducting system and extremity motor function, is called for short human potential and develops promotion module.
Upper limb healing treatment module: contain: waveform and the elevation ruler thereof of all joints bioelectric current of being trained during human upper limb proper motion, and grow from weak to strong according to joint motions, be organized into successively and indicate correspondence position and trained the bioelectric current amplitude in joint and the sequence of meansigma methods, and during human upper limb proper motion, trained the moving image in joint and joint motions to the flexion angle under diverse location, wherein at least comprised: approach 0 °, 90 °, 180
0three critical angle, 0 ° of <90 ° of <180 °.
Music background is selected module: under remedial gymnast instructs, by patient, independently selected.
Memory module: store patient personal information, and rehabilitation training project, title, degree and the progress of in the past carrying out.
Image driver module: on described dual image display type training screen, show that respectively normal person, when carrying out upper limb flexing, stretching motion, is furnished with the bioelectric current waveform of absolute altitude, and the joint at corresponding upper extremity exercise position stretch angle in the wrong.
Control module: be a Vista software administration platform, according to " people---machine " conversational mode, make patient under remedial gymnast instructs, carry out the rehabilitation training of all joint parts of Ipsilateral upper limb, step is as follows:
Step (1): remedial gymnast inputs patient's personal information, and described historical data of in the past carrying out rehabilitation project,
Step (2): remedial gymnast judges whether patient has contraindication, if do not have, input signal (1).Otherwise input signal " 0 ", deconditioning,
Step (3): remedial gymnast judges the fitness of patient to training.If patient had carried out standing bed training, and had 90
0stand 30 minutes in position, the vital signs such as blood pressure, breathing, pulse still belong to while recording normally, and patient can adaptive training, input signal " 1 ", otherwise input signal " 0 " deconditioning,
Step (4): system initialization.Juxtra-articular at the ill upper limb of patient is installed bioelectrode, and the bioelectric current under kinestate is inputted to described computer, or CCD photographic head, be arranged on described upper extremity exercise development of potential exercise equipment, can photograph the ill upper limb of patient and trained on the position of joint motions image.Remedial gymnast, according to exercise prescription, hangs and sets on described upper extremity exercise development of potential training devices, and weight is equivalent to the sandbag of loss of weight amount,
Step (5): remedial gymnast starts described computer, transfer described human potential and develop promotion module, and on described dual image display type training screen, show the meridians conducting system of sound with image and the movement relation image between extremity motor function, for patient, set up development of potential consciousness
Step (6): patient dresses suspender belt, suffers from hands and wears hand expansion board, and trunk is push up position, both legs are kneeled on the foam-rubber cushion of base, its position, can make patient's both hands just be positioned at the vertical line of support frame top middle portion loss of weight pulley, is connected suspender belt with the hook at loss of weight position
Step (7): click successively step and train:
Step (7.1): prop up training.Patient, slowly props up in the flexing position in elbow joint, until elbow joint while stretching ° position, angle >=90 in the wrong only, now:
If the elbow joint dyskinesia image of the ill upper limb of patient of CCD photographic head input, by described image driver module, described dual image is presented on training screen, the motive position that shows the ill upper limb elbow joint of patient, along with the motion of elbow joint, shows the motive position of the ill upper limb of patient in real time, until when remedial gymnast applies the resistance of motion, till when patient's Ipsilateral upper limb reaches limit of sports record, go to step 7.2
If the bioelectric current waveform of exporting via the bioelectrode connecting on the ill upper limb of patient, by described image, show motion module, on described dual image display type training screen, demonstrate the ill upper limb of patient at elbow joint in the different bioelectric current waveforms under elbow angle of stretching, go to step 7.2
Step (7.2): the support training that falls: from the elbow joint of the ill upper limb of patient, start in stretching position, slowly support falls, until elbow joint when flexing position only, repeated execution of steps 7.1,
Step (7.3): computer by normal person and patient on upper extremity exercise image not coordination show real-time angular difference or the real-time difference of bioelectric current on absolute altitude of stretching elbow angle, be input to respectively in corresponding training effect's data set,
Described computer according to the following steps, calculates patient's Ipsilateral upper limb and normal person's homonymy upper limb elbow joint, is in the angle of the real-time elbow joint angle under different motion position.
The 1st step: computer control CCD photographic head, the patient's Ipsilateral upper limb starting from same motion starting point with identical frequency acquisition picked-up and the elbow joint motion sequence of normal person's homonymy upper limb, until arrive separately exercise end,
The 2nd step: on two images of same sampling instant, with Canny rim detection software, survey respectively the point that in upper extremity exercise image and background image juncture area, pixel is undergone mutation, obtain two sections of different upper limb inner profile curves, part elbow, whole elbow joint and part upper arm have been covered
The 3rd step: each is got a bit at arm segment and elbows, goes in the same direction to shoulder elbow joint direction, obtains curvature and changes maximum point, is the flex point on inner profile curve.Again dorsad oppositely go of elbow joint direction, find curvature to change the constant point of beginning, as the outer point of contact of inner profile curve, obtain flex point and the outer point of contact of two different motion images,
The 4th step: along the point of contact outside two separately of two different motion images, make the outer tangent line of inner profile curve separately, the angle of two described outer tangent lines, is two described inner profile curves angle separately,
The 5th step: on every moving image, in any tangent line, take up an official post and get a bit, to another tangent line, make vertical line, make the starting point of intersection point, vertical line and the intersection point of two tangent lines form a right angled triangle, obtain the value of two tangent line angles,
The 6th step: obtain on normal person's moving image, the angle of the angle of inner profile curve and the above inner profile curve of movement of patient image poor, is effect data,
The 7th step: obtain on every two different motion images, two inner outline angles poor, forms the storage of effect data group,
Step (7.4): computer judges whether to reach each training 20-30 minute, train the time requirement of 2 times every day, and be for 60 times the setting value of a course for the treatment of, if do not reach, repeating step (7.1)-step (7.3), until meet training time and the course for the treatment of of setting, go to step (8); If reached directly, go to step (8),
Step (8): remedial gymnast, in step (7.4), sends interrupt instruction after last rehabilitation training, and the result obtaining according to step (7.3), determines next step rehabilitation goal, carries out off-line rehabilitation training,
Step (9): repeated execution of steps (7)-step (8), until patients ' recovery.
The invention solves the problem of the upper extremity exercise development of potential training of formerly applying for a patent still unsolved computer-aided control.
Attached with explanation:
Fig. 1. upper extremity exercise development of potential training devices structure chart;
Fig. 2. system block diagram of the present invention;
Fig. 3. program flow chart of the present invention;
Fig. 4. the calculating schematic diagram of inner profile curve angle α.
A. inner outline;
61.62. outer tangent line;
7. flex point;
81.82. point of contact.
The specific embodiment:
Upper extremity exercise development of potential exercise equipment, is the active exercise formula exercise equipment that apoplexy hemiplegic patient by upper functional rehabilitation is used, and comprising: pulley loss of weight parts 1, frame support member 2, suspender belt fixed part 3, loss of weight parts 4 and base member 5, wherein:
Base member 5 is the double-layer frames that tube bending forms, and upper strata framework is provided with the squat place mat part of use of when trunk is push up position both legs,
Support frame parts 2 is one and described base member 5, wide and be vertically fixed on the described base member 5 framework left and right sides, upper strata length directions, be " door " font by first, second two-layer framework 21,22 double-layer frames that form, two " door " font tops at described double-layer frame are connected with many ribs
Pulley loss of weight parts 1 are respectively by a support bar by two, be welded on described frame support member (2) first or/and the top middle portion of second layer framework 21,22 and a side, the first pulley 11, the second pulley 12 on totally two ribs, and embed steel wire rope groove, that wrap in plastic tube that described pulley 11,12 circumferencial directions open and jointly form.
Suspender belt fixed part 3 is a kind of vest type device for fastening suspenders, is worn on patient's chest, and top is connected with hook with the steel wire rope end on described the first pulley 11.
Loss of weight parts 4 are sandbags, are connected with hook with the steel wire rope end of described the second pulley 12 1 sides.
Rehabilitation training is carried out in patient's upper limb of the present invention active exercise, can develop veritably patient's brain potential, be conducive to the not recovery of damaging cells in central nervous system, and impel damage zone normal cell around to play a role to substitute the function of damaging cells, improved training effectiveness and effect.
Training step is as follows:
1. before training, prepare: if patient had carried out standing bed training, and have 90
0standing 30 minutes in position, when the vital signs such as blood pressure, breathing, pulse still record normally, can carry out this training.Dress suspender belt, suffer from hands and wear hand expansion board, trunk is push up position, and both legs are kneeled on the foam rubber cushion of base, and its position can make patient's both hands, be just positioned on the vertical of support frame top middle portion loss of weight pulley, with shoulder with wide.Suspender belt is connected with the hook of pulley loss of weight system.Therapist is positioned at patient's suffering limb side, hangs the sandbag of required loss of weight amount according to exercise prescription, and remedial gymnast also can hold handle, passes through the amount of the size adjustment loss of weight of auxiliary dynamics according to patient's practical situation.
2, training: comprise and prop up and support two kinds of training.
Prop up training: patient is in elbow joint flexing position, and attention is shifted to paralysis side by body centre.Instruct dark air-breathing and dark air-breathing the holding the breath of slowly breathing out, then concentrate one's energy of patient, be primarily focused on the triceps brachii of paralysis side, when slowly propping up, know from experience the sensation that triceps brachii shrinks.When can not oneself propping up, patient suitably assisted by remedial gymnast, when stretching elbow angle while surpassing 90 °, remedial gymnast according to circumstances suitably reduces auxiliary dynamics, and builds critical atmosphere by speeches such as " prop up otherwise fallen; adhere to otherwise touched ", and encouragement patient does the best and oneself props up.When Ipsilateral elbow joint is positioned at while stretching a 0-5 °, encourage patient to adhere to 6 seconds.
Support falls to training: bilateral elbow joint is in stretching a 0-5 °, center of gravity is shifted to paralysis side upper limb, guiding patient row is deeply air-breathing, slowly exhale and adjust, the suction time of exhaling is 1/2 than probably, and motion imagination elbow joint is capable supports motion, assembles whole body energy in brain, speech guiding patient upper limb supports, and holds the breath and knows from experience the sensation that triceps brachii shrinks.According to circumstances can carry out that suitable auxiliary elbow joint stretches or in the suitable increase resistance in Ipsilateral top, and with " refuel, prop up; otherwise fallen, adhere to, prop up; otherwise touched " etc. speech build crisis atmosphere, when Ipsilateral elbow joint is positioned at 90 ° of flexing positions, encouragement patient adheres to 6 seconds.
3. each 20 minutes of training time, is for 30 times a course for the treatment of, after finish a course for the treatment of, re-starts assessment, determines whether to carry out the treatment of next course for the treatment of.
Indication: this device is applicable to central nervous system unify acute stage and chronic phase hemiplegia, cerebral palsy, cerebral palsy of children, the not exclusively patient's such as paraplegia, peripheral nerve injury and articular muscle dysfunction the upper extremity exercise functional rehabilitation training of stable disease after osteoarticular injury, is still applicable to the patient that can not further improve upper extremity function through the treatment of Traditional Rehabilitation method.
Contraindication: 1. cardiovascular stress response ability, have severe cardiac, lung, liver and renal insufficiency, and severe infections disease, fracture, dyscrasia etc. can not carry out rehabilitation training persons; 2. unstable person after elbow joint fracture fixation; 3. Ipsilateral upper limb shoulder joint, elbow joint, wrist fracture do not heal.
Points for attention: need carry out incremental series training, and should be noted protection, prevent elbow joint, carpal joint damage.
Claims (1)
1. upper extremity exercise development of potential training use follows through leading network guiding feedback rehabilitation training system, it is characterized in that, a kind of " people-machine " dialog mode, under remedial gymnast instructs based on Six Steps traditional Chinese medical science guidance method, by the active exercise of patient's upper limb, carry out following through leading network guiding feedback rehabilitation training instrument of Ipsilateral potential function of sport exploitation, by computer, dual image display type training screen, sensor and upper extremity exercise development of potential exercise equipment, formed, wherein:
Computer:
Be provided with: the ill upper limb of patient of CCD photographic head output is trained the input port of articular dyskinesia image,
The electrode of the connection at patient's ill upper limb elbow joint place is exported, and reflects the dyskinetic joint bioelectric current input port of being trained of ill upper limb,
Also be provided with:
The module of dubbing the relation between explanation meridians conducting system and extremity motor function of sound with image, is called for short human potential and develops promotion module,
Upper limb healing treatment module: contain: waveform and the elevation ruler thereof of all joints bioelectric current of being trained during human upper limb proper motion, and grow from weak to strong according to joint motions, be organized into successively and indicate correspondence position and trained the bioelectric current amplitude in joint and the sequence of meansigma methods, and during human upper limb proper motion, trained the moving image in joint and joint motions to the flexion angle under diverse location, wherein at least comprised: approach 0 °, 90 °, 180
0three critical angle, 0 ° of <90 ° of <180 °,
Music background is selected module: under remedial gymnast instructs, by patient, independently selected,
Memory module: store patient personal information, and rehabilitation training project, title, degree and the progress of carrying out in the past,
Image driver module: on described dual image display type training screen, show that respectively normal person, when carrying out upper limb flexing, stretching motion, is furnished with the bioelectric current waveform of absolute altitude, and the joint at corresponding upper extremity exercise position stretch angle in the wrong,
Control module: be a Vista software administration platform, according to " people---machine " conversational mode, make patient under remedial gymnast instructs, carry out the rehabilitation training of all joint parts of Ipsilateral upper limb, step is as follows:
Step (1): remedial gymnast inputs patient's personal information, and described historical data of in the past carrying out rehabilitation project,
Step (2): remedial gymnast judges whether patient has contraindication, if do not have, input signal (1).Otherwise input signal " 0 ", deconditioning,
Step (3): remedial gymnast judges the fitness of patient to training.If patient had carried out standing bed training, and had 90
0stand 30 minutes in position, the vital signs such as blood pressure, breathing, pulse still belong to while recording normally, and patient can adaptive training, input signal " 1 ", otherwise input signal " 0 " deconditioning,
Step (4): system initialization.Juxtra-articular at the ill upper limb of patient is installed bioelectrode, and the bioelectric current under kinestate is inputted to described computer, or CCD photographic head, be arranged on described upper extremity exercise development of potential exercise equipment, can photograph the ill upper limb of patient and trained on the position of joint motions image.Remedial gymnast, according to exercise prescription, hangs and sets on described upper extremity exercise development of potential training devices, and weight is equivalent to the sandbag of loss of weight amount,
Step (5): remedial gymnast starts described computer, transfer described human potential and develop promotion module, and on described dual image display type training screen, show the meridians conducting system of sound with image and the movement relation image between extremity motor function, for patient, set up development of potential consciousness
Step (6): patient dresses suspender belt, suffer from hands and wear hand expansion board, trunk is push up position, and both legs are kneeled on the foam-rubber cushion of base, its position, can make patient's both hands just be positioned at the vertical line of support frame top middle portion loss of weight pulley, is connected suspender belt with the hook at loss of weight position;
Step (7): click successively step and train:
Step (7.1): prop up training.Patient, slowly props up in the flexing position in elbow joint, until elbow joint while stretching ° position, angle >=90 in the wrong only, now:
If the elbow joint dyskinesia image of the ill upper limb of patient of CCD photographic head input, by described image driver module, described dual image is presented on training screen, the motive position that shows the ill upper limb elbow joint of patient, along with the motion of elbow joint, shows the motive position of the ill upper limb of patient in real time, until when remedial gymnast applies the resistance of motion, till when patient's Ipsilateral upper limb reaches limit of sports record, go to step 7.2
If the bioelectric current waveform of exporting via the bioelectrode connecting on the ill upper limb of patient, by described image, show motion module, on described dual image display type training screen, demonstrate the ill upper limb of patient at elbow joint in the different bioelectric current waveforms under elbow angle of stretching, go to step 7.2
Step (7.2): the support training that falls: from the elbow joint of the ill upper limb of patient, start in stretching position, slowly support falls, until elbow joint when flexing position only, repeated execution of steps 7.1,
Step (7.3): computer by normal person and patient on upper extremity exercise image not coordination show real-time angular difference or the real-time difference of bioelectric current on absolute altitude of stretching elbow angle, be input to respectively in corresponding training effect's data set,
Described computer according to the following steps, calculates patient's Ipsilateral upper limb and normal person's homonymy upper limb elbow joint, is in the angle of the real-time elbow joint angle under different motion position,
The 1st step: computer control CCD photographic head, the patient's Ipsilateral upper limb starting from same motion starting point with identical frequency acquisition picked-up and the elbow joint motion sequence of normal person's homonymy upper limb, until arrive separately exercise end,
The 2nd step: on two images of same sampling instant, with Canny rim detection software, survey respectively the point that in upper extremity exercise image and background image juncture area, pixel is undergone mutation, obtain two sections of different upper limb inner profile curves, part elbow, whole elbow joint and part upper arm have been covered
The 3rd step: each is got a bit at arm segment and elbows, goes in the same direction to shoulder elbow joint direction, obtains curvature and changes maximum point, is the flex point on inner profile curve.Again dorsad oppositely go of elbow joint direction, find curvature to change the constant point of beginning, as the outer point of contact of inner profile curve, obtain flex point and the outer point of contact of two different motion images,
The 4th step: along the point of contact outside two separately of two different motion images, make the outer tangent line of inner profile curve separately, the angle of two described outer tangent lines, is two described inner profile curves angle separately,
The 5th step: on every moving image, take up an official post and get a bit in any tangent line, make vertical line to another tangent line.Make the starting point of intersection point, vertical line and the intersection point of two tangent lines form a right angled triangle, obtain the value of two tangent line angles,
The 6th step: obtain on normal person's moving image, the angle of the angle of inner profile curve and the above inner profile curve of movement of patient image poor, is effect data,
The 7th step: obtain on every two different motion images, two inner outline angles poor, forms the storage of effect data group,
Step (7.4): computer judges whether to reach and is often trained for 20-30 minute, trains the time requirement of 2 times every day is for 60 times the setting value of a course for the treatment of, if do not reach, repeating step (7.1)-step (7.3), until meet training time and the course for the treatment of of setting, goes to step (8); If reached directly, go to step (8),
Step (8): remedial gymnast, in step (7.4), sends interrupt instruction after last rehabilitation training, and the result obtaining according to step (7.3), determines next step rehabilitation goal, carries out off-line rehabilitation training;
Step (9): repeated execution of steps (7)-step (8), until patients ' recovery.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110960843A (en) * | 2019-12-23 | 2020-04-07 | 天水师范学院 | Basketball skill auxiliary training system |
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