CN104666047A - Double-side mirror image rehabilitation system based on biological information sensing - Google Patents
Double-side mirror image rehabilitation system based on biological information sensing Download PDFInfo
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Abstract
The invention provides a double-side mirror image rehabilitation system based on biological information sensing. One end of a somatic sensing device is connected with the limb on the healthy side to acquire the motion signals of the limb on the healthy side; the other end of the somatic sensing device is connected with a computer by use of a USB bus to transmit the acquired motion signals of the limb on the healthy side to the computer; a motor driver is connected to the computer by use of a CAN bus and used for receiving a motion control instruction sent by the computer; the other end of the motor driver is connected with a motor and used for converting the received motion control instruction into a corresponding current signal for sending to the motor and driving the motor to rotate; the motor is arranged at the motion joint of a mechanical arm, and drives the connecting rod of the mechanical arm to move while rotating; the limb on the sick side is arranged in the mechanical arm and driven by the connecting rod of the mechanical arm to do rehabilitation exercise. The double-side mirror image rehabilitation system based on biological information sensing is capable of realizing the active motion function rehabilitation of a hemiplegic patient and mobilizing the functions of the limb of the healthy side of the hemiplegic patient to assist the silk side to do rehabilitation training.
Description
Technical field
The present invention relates to the medical rehabilitation field of a kind of novel pin to hemiplegic patient, specifically a kind of bilateral mirror image rehabilitation system based on bio information perception.
Background technology
Apoplexy (also known as apoplexy) a kind of causes internal artery narrow by risk factor, inaccessible or break, and cause acute brain disturbance of blood circulation, and clinical signs is the sings and symptoms of transient or permanent disordered brain function.Apoplexy is common clinical, frequently-occurring disease, its case fatality rate and disability rate are all very high, form three large fatal disease of majority state, serious harm human body health and lives safety with heart disease, malignant tumor, bring great body and mind painful to patient, bring heavy burden to family and society.In developed country, apoplexy has become the principal element of people's acquired disability.In China, the annual patient that apoplexy occurs reaches 2,000,000.Along with improving constantly of medical condition and treatment technology, the mortality rate of Patients with Stroke significantly reduces, but in 7,000,000 now survival stroke patient, have 4,500,000 patients in various degree lose basic work capacity and the self-care ability of life, its disability rate in survivor up to more than 75%.Dyskinesia is the modal performance of Patients with Stroke, about has the Patients with Stroke of 2/3 to have the dysfunction of side upper limb.Upper extremity exercise function plays vital effect in people's daily life and work, it not only can complete push away, draw, grab, the simple upper limks movements such as act, and some complicated meticulous operation by human hand can be realized, if therefore upper limb runs into the self-care ability that dysfunction will have a strong impact on patient, reduce the independence of its life.
Through the development of more than ten years, for the upper extremity motor function disorder of stroke hemiplegia, emerge in large numbers multi-rehabilitation techniques.But much research shows, traditional rehabilitation technique is not fairly obvious to the restitution of post-stroke motor function.We recognize that all rehabilitation maneuvers are all the control in order to recapture motion now, the changing function of motor cortex depend on the activity that limbs experience number and self is to the experience of motion, it is relevant that rehabilitation effect and neuromuscular system are subject to the degree that autonomic movement stimulates, the dynamics of post-stroke rehabilitation is larger, more contributes to the recovery of motor function.
Traditional stimulator for hemiplegia rehabilitation mode mainly hemiplegic patient, under the help of several treating physician, uses affected limb repeatedly to complete single training action.Because each rehabilitation training needs just can guarantee that the safety of training is carried out under doctor's cooperation of two to three, be unlikely to that patient is caused again in rehabilitation training injured, so rehabilitation expense costly, this brings huge economic pressures to patient home, therefore many patients also abandon treatment, miss the best opportunity of postoperative rehabilitation, leave huge regretting.Secondly, repeat single training method and easily make patient feel dull barren, produce sensation tired out, thus reduce the effect for the treatment of, fail to reach the rehabilitation goal of expection.
The development of robotics and the combination with clinical rehabilitation medicine thereof, for the present situation solving physiatrician's deficiency provides a good solution.The advantage that robot rehabilitation has the following aspects makes it be highly suitable for patient with limb injury rehabilitation training: a) robot is applicable to moving back and forth use for a long time, meets rehabilitation training needs; B) robot can control flexibly for the strength being applied to patient; C) robot can repeat to produce required training strength accurately.Above feature makes medical rehabilitation robot be developed rapidly in recent years.
But current medical rehabilitation robot needs improvement badly in the following aspects:
Patient's active participate degree is low: most rehabilitation system just drives patient's Ipsilateral to carry out rehabilitation, and according to set orbiting motion, patient belongs to passive movement mode;
New Concepts of Rehabilitation: bilateral action is the action pattern that both sides limbs perform common time and space.The training of bilateral mirror image has positive influences for bilateral hemisphere, is very beneficial for Rehabilitation.But existing rehabilitation system is generally drive the one-sided motion of patient's Ipsilateral;
Safety issue: the motor control of rehabilitation equipment does not merge the feature of people's limbs compliance, makes the rehabilitation training of patient operate stiff, easily causes permanent damage to limbs of patient;
Compliance problem: rehabilitation course does not consider that the pain of patient is subject to, and patient compliance is poor;
Rehabilitation objective evaluation problem: rehabilitation system lacks the objective evaluation standard to rehabilitation efficacy.
Summary of the invention
For the deficiencies in the prior art, the invention provides a kind of bilateral mirror image rehabilitation system based on bio information perception, realize the active exercise functional rehabilitation of hemiplegic patient, the function transferring hemiplegic patient healthy side limbs assists Ipsilateral to carry out rehabilitation training.
The technical scheme that the present invention is adopted for achieving the above object is:
A kind of bilateral mirror image rehabilitation system based on bio information perception, body sense equipment one end connects healthy side limbs, gather the motor message of healthy side limbs, the other end is connected with computer by usb bus, and the motor message of the healthy side limbs collected is sent to computer;
Motor driver is connected to computer by CAN, for the motion control instruction that receiving computer sends; The other end is connected with motor, the motion control instruction received is converted into corresponding current signal, is sent to motor, and drive motors rotates;
Described motor is arranged at the movable joint place of mechanical arm, and during electric machine rotation, driving mechanical arm connecting rod moves;
Affected limb is placed in described mechanical arm, drives affected limb to carry out rehabilitation exercise by robot linkage.
The movable joint place of described mechanical arm is provided with torque sensor, measures the moment information of joint rotating shaft;
One end of data collecting card is connected with described torque sensor, for gathering moment information;
The other end of data collecting card is connected to computer, and the moment information collected is sent to computer.
Described torque sensor is strain-type torgue measurement element.
Described affected limb connects one end of myoelectric signal collection apparatus, for gathering affected limb electromyographic signal;
The other end of described myoelectric signal collection apparatus connects computer, for the signal collected is sent to computer.
Described myoelectric signal collection apparatus comprises the electromyographic electrode, signal amplifier and the data acquisition box that connect successively; Wherein said electromyographic electrode is connected to affected limb, for receiving the signal of affected limb, and the signal of affected limb is sent to signal amplifier, the signal after process is sent to data acquisition box by signal amplifier, and the signal collected is sent to computer by data acquisition box.
Braking control button is known in the mistake also comprised by rehabilitation therapist is hand-held.
Braking control button is known in described mistake, is connected with embedded real time system, controls safety stop rehabilitation training for when accident or emergency by rehabilitation therapist.
Described body sense equipment is the equipment utilizing infrared measurement technique to realize the collection of 3D depth information of scene.
Described virtual reality scenario display device is worn on patients head, and is connected with computer, the virtual reality scenario of Practical computer teaching is illustrated in the visual feedback that patient forms Rehabilitation training at the moment.
The present invention has following beneficial effect and advantage:
1. improve participation during Rehabilitation training, the rehabilitation training of patient is no longer only based on fixing training action, can also commonly use behavior and carry out rehabilitation, improve rehabilitation efficiency based on daily life;
2. theoretical based on mirror movements rehabilitation, effectively improve the efficiency of Rehabilitation further;
3. adopt mechanical arm to drive Rehabilitation to liberate the physical work of rehabilitation therapist, make rehabilitation therapist can concentrate one's energy with to the arrangement of rehabilitation course for the treatment of and the design of rehabilitation training task, more optimize the rehabilitation efficacy of patient;
4. multiple sensors has been installed on rehabilitation equipment, the parameters in Rehabilitation training process can be measured reliable quantification, conveniently effectively evaluating is made to the rehabilitation efficacy of patient, different rehabilitation training requirements can be proposed to different patients based on this evaluation, reach the object because of human therapy.
Accompanying drawing explanation
Fig. 1 is bilateral mirror image rehabilitation system theory diagram of the present invention;
Fig. 2 is the theory diagram of myoelectric signal collection apparatus of the present invention;
Fig. 3 is the control system block diagram based on Force location mixture control of the present invention;
Fig. 4 is ectoskeleton upper limb healing mechanical arm sketch of the present invention, 1 is wherein shoulder abduction adduction degree of freedom in figure, and 2 lift bottom degree of freedom in shoulder joint, and 3 is elbow joint bending degree of freedom.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
Be illustrated in figure 1 bilateral mirror image rehabilitation system theory diagram of the present invention, comprise following major part: body sense equipment limb motion state acquisition, the real-time 3D virtual reality scenario of Practical computer teaching, DC motor driver, upper limb exoskeleton rehabilitation mechanical arm, joint of mechanical arm torgue measurement sensor, Surface Electromyography Signal Acquisition System, for the treatment of the scram button of emergency, for the data collecting card of acquisition system sensing data, operate in the motion control software of embedded real time system, the rehabilitation mechanical arm motion control arithmetic of fusion power and positional information.Body sense equipment collects the action that patient health side limbs do, and is converted into kinematics parameters, is transferred on computer.
Computer receives the kinestate that patient is good for side, judge this state whether in the state space of safety, if space in a safe condition, then to motion control arithmetic sending controling instruction, exoskeleton rehabilitation mechanical arm is driven to drive patient's affected limb to complete mirror image action; If this state in the state space of safety, does not then send warning by virtual reality scenario to patient, indicate its rehabilitation exercise motion to depart from specification, need to readjust.Computer terminal runs virtual reality scenario and generates software, utilizes 3D graphics engine to drive the human simulation model set up based on Skeletal Skinned technology, and scene is presented to the patient receiving rehabilitation training in the mode of first person; Anthropometric dummy in this scene imitates the action that patient does, and complete a series of prior design by the virtual task of Practical computer teaching, comprise crawl and the movement of article, and complete an action sequence of specifying.The real-time 3D virtual reality scenario of Practical computer teaching provided by the invention, its feature comprises: use 3 d modeling software, Skeletal Skinned Animation technology is utilized to set up the human body electronic 3-D model of highly emulation, the motion simulation that three dimentional graph display drives this model realization human body is realized by computer programming, and by pictorial displays, virtual scene is showed the patient receiving rehabilitation training, realize the visual feedback of Rehabilitation process.And devise the training action completed required for a series of rehabilitation training of upper limbs, and be supplied to patient by the form of Mission Objective by virtual reality scenario and select and complete corresponding training.
Be illustrated in figure 4 ectoskeleton upper limb healing mechanical arm sketch of the present invention, ectoskeleton mechanical arm is configured with at least three degree of freedom, comprise in shoulder joint and lift bottom degree of freedom 1, shoulder abduction adduction degree of freedom 2, elbow joint bending degree of freedom 3, wherein elbow joint bending degree of freedom before adjustment arm mechanical arm installation site when can with shoulder joint on lift bottom degree of freedom in same plane or in mutually perpendicular two planes.And each degree of freedom is by a DC motor Driver.
The invention provides one group for measuring the SMD torque sensor of ectoskeleton joint of mechanical arm output torque size, use strain-type torgue measurement element, element is affixed on distortion place of joint mechanics square, adopt full-bridge type strain gauge element distribution subsides method and measuring circuit, use passive filter to export primary signal to sensor and carry out filtering, weaken interference, utilize high-precision meter amplifier to be amplified to the weak stress signal after after filtering the amplitude range that data collecting card receives, the sensor analog signals access data capture card after amplifying is carried out analog digital conversion.
Surface patch electrode is made up of the sticking adhered layer of tool and three electrode contacts; Wherein three electrode contacts be respectively a signal with reference to two differential signal input; Patch electrode is connected with signals collecting box by shielding line, and signals collecting box is connected with computer by data/address bus, realizes collection and the record of electromyographic signal data.Utilize the surface electromyogram signal data gathered, use its signal characteristic can estimate current upper limb joint movement angle.Surface electromyogram signal can be used for estimating muscle spasm simultaneously, stops rehabilitation training, and judge patient pain's degree according to surface electromyogram signal information when predicting spasm and will occurring, and stops rehabilitation training when pain occurs.
Based on the bilateral mirror image rehabilitation system of bio information perception, the upper extremity function that can be used for upper limb disorder patient recovers, comprise the limb motion awareness apparatus based on body sense equipment, the real-time 3D virtual reality scenario of Practical computer teaching, DC motor driver, upper limb exoskeleton rehabilitation mechanical arm, joint of mechanical arm torgue measurement sensor, Surface Electromyography Signal Acquisition System, stop and supplemental button for the treatment of urgency that is urgent and allocate event, for the data collecting card of acquisition system sensing data, motion control software, the rehabilitation mechanical arm motion control arithmetic of fusion power and positional information, described body sense equipment gathers depth information and the color image information of scene, estimates patient's current motion state and predict next step possible kinestate of patient based on human skeleton model, described computer 3D real-time virtual reality scene generates the mirror image visual simulation needed for Rehabilitation, and the mode of task based access control instructs the action completed needed for Rehabilitation simultaneously, described upper limb healing mechanical arm comprises upper limb ectoskeleton body and provides the direct current generator of power, described DC motor driver is connected with direct current generator with holding wire by power line, is connected with computer by data/address bus, direct current generator is provided with numeric type Hall element and photoelectric encoder.Described manipulator motion control algolithm merges Force location information, according to the limbs of patient kinestate that body sense equipment collects, at computer terminal by data/address bus to DC motor driver sending controling instruction, and then DC motor driver controls upper limb ectoskeleton mechanical arm and drives limbs of patient to complete rehabilitation training.
Be illustrated in figure 2 the theory diagram of myoelectric signal collection apparatus of the present invention, Surface Electromyography Signal Acquisition System comprises electromyographic electrode, signal amplifier, data acquisition box; Wherein said electromyographic electrode is connected to affected limb, for receiving the signal of affected limb, and the signal of affected limb is sent to signal amplifier, the signal after process is sent to data acquisition box by signal amplifier, and the signal collected is sent to computer by data acquisition box.
Limb motion awareness apparatus based on body sense equipment provided by the invention, utilizes infrared measurement technique to realize the depth information collection of 3D scene, utilizes visible light sensor to realize the Color Image Acquisition of scene; Merging and the 3 d space coordinate of any point in scene can obtained after calibrating depth information and colour information; In conjunction with human skeleton model, human upper limb wrist portion, ancon, shoulder joints x, y, z director space three-dimensional coordinate can be obtained; Utilize articulare space coordinates can estimate joint motions angle according to the following steps:
Definition shoulder joint coordinate is (x1, y1, z1), and elbow joint coordinate is (x2, y2, z2), and wrist joint coordinate is (x3, y3, z3)
Shoulder joint swings up and down angle
Shoulder abduction adduction angle is
Elbow joint bending angle is
Be illustrated in figure 3 the control system block diagram based on Force location mixture control of the present invention, the signal that torque sensor collects is for carrying out power/Position Hybrid Control to ectoskeleton mechanical arm, torque sensor adopts based on SMD strain transducer, by measure connecting rod stressed go out the output torque of bending strain amount indirect inspection connecting rod, this moment information is through kinematic decoupling and be converted into the given quantity of motion deviation signal of each degree of freedom, for controlling the motion of ectoskeleton mechanical arm, thus patient is merged in mechanical arm Control loop with the opplied moment that mechanical arm directly contacts, the control realizing mechanical arm is to the compliance of people and robot contact power, this control algolithm makes patient accept to obtain comfortableness and safety in rehabilitation training.
Surface electromyogram signal is input in collecting cassette by the electrode being pasted on skin surface and gathers, computer reads the electromyographic signal that collects for analyzing the movement angle of the current arm joint of patient, judge whether its range of movement is in safe kinestate space, and alarm is given to incorrect and dangerous sports state.Electromyographic signal can be used for the pain judgement of patient's Ipsilateral motion arm simultaneously, when patient's Ipsilateral arm motion but detects patient pain in safe space, also gives with alarm sounds and stops current rehabilitation training.Electromyographic signal has reacted the active degree of human muscle, and therefore the feature of electromyographic signal is also for the rehabilitation efficacy of evaluate patient after rehabilitation course for the treatment of of experience a period of time, for reasonable arrangement therapeutic scheme provides guidance and foundation.
Claims (9)
1., based on a bilateral mirror image rehabilitation system for bio information perception, it is characterized in that:
Body sense equipment one end connects healthy side limbs, and gather the motor message of healthy side limbs, the other end is connected with computer by usb bus, and the motor message of the healthy side limbs collected is sent to computer;
Motor driver is connected to computer by CAN, for the motion control instruction that receiving computer sends; The other end is connected with motor, the motion control instruction received is converted into corresponding current signal, is sent to motor, and drive motors rotates;
Described motor is arranged at the movable joint place of mechanical arm, and during electric machine rotation, driving mechanical arm connecting rod moves;
Affected limb is placed in described mechanical arm, drives affected limb to carry out rehabilitation exercise by robot linkage.
2. the bilateral mirror image rehabilitation system based on bio information perception according to claim 1, is characterized in that:
The movable joint place of described mechanical arm is provided with torque sensor, measures the moment information of joint rotating shaft;
One end of data collecting card is connected with described torque sensor, for gathering moment information;
The other end of data collecting card is connected to computer, and the moment information collected is sent to computer.
3. the bilateral mirror image rehabilitation system based on bio information perception according to claim 2, is characterized in that: described torque sensor is strain-type torgue measurement element.
4. the bilateral mirror image rehabilitation system based on bio information perception according to claim 1, is characterized in that:
Described affected limb connects one end of myoelectric signal collection apparatus, for gathering affected limb electromyographic signal;
The other end of described myoelectric signal collection apparatus connects computer, for the signal collected is sent to computer.
5. the bilateral mirror image rehabilitation system based on bio information perception according to claim 4, is characterized in that:
Described myoelectric signal collection apparatus comprises the electromyographic electrode, signal amplifier and the data acquisition box that connect successively; Wherein said electromyographic electrode is connected to affected limb, for receiving the signal of affected limb, and the signal of affected limb is sent to signal amplifier, the signal after process is sent to data acquisition box by signal amplifier, and the signal collected is sent to computer by data acquisition box.
6. the bilateral mirror image rehabilitation system based on bio information perception according to claim 1, is characterized in that: braking control button is known in the mistake also comprised by rehabilitation therapist is hand-held.
7. the bilateral mirror image rehabilitation system based on bio information perception according to claim 6, it is characterized in that: braking control button is known in described mistake, be connected with embedded real time system, control safety stop rehabilitation training for when accident or emergency by rehabilitation therapist.
8. the bilateral mirror image rehabilitation system based on bio information perception according to claim 1, is characterized in that: described body sense equipment is the equipment utilizing infrared measurement technique to realize the collection of 3D depth information of scene.
9. the bilateral mirror image rehabilitation system based on bio information perception according to claim 1, it is characterized in that: described virtual reality scenario display device is worn on patients head, and be connected with computer, the virtual reality scenario of Practical computer teaching is illustrated in the visual feedback that patient forms Rehabilitation training at the moment.
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