CN106924011A - A kind of portable rehabilitation of anklebone medical treatment control device - Google Patents

Abstract

The invention discloses a portable ankle joint rehabilitation medical control device. The fixed unit and the rotating unit are respectively used to fix the calf and the foot, and the rotating connection part is used to generate the torque that makes the rotating unit rotate relative to the fixed unit and then reset; the pulling unit is used It is used to connect the fixed unit and the rotating unit, and a controller unit is provided to control the pulling unit to pull the rotating unit according to the set value and change, so that it rotates relative to the fixed unit between the angle θ1 before rotation and the angle θ2 after rotation; at the same time It can carry out active rehabilitation treatment, the interval time △T of belt tightness can be set, it is equipped with a safety off button, which is quite safe to use, it is equipped with a wireless remote control device, which is very convenient to operate, and it is equipped with a voice device 60 to directly inform the current action; it is easy to carry , The effect of rehabilitation treatment is good, and the practicability is strong, especially suitable for use in the rehabilitation treatment of various ankle joint injuries.

Description

A portable ankle joint rehabilitation medical control device

technical field

The invention relates to a medical and health care device, in particular to a portable ankle joint rehabilitation medical control device.

Background technique

Ankle joint injuries are relatively common in people's daily life. Ankle joint injuries may occur in sports activities and ordinary life. Ankle joint injuries not only bring pain to patients physically, but also seriously interfere with people's normal life. , more seriously even affect people's mental health. Most patients with ankle joint injuries need physical rehabilitation training during the medical treatment process to prevent muscle atrophy and restore ankle joint function. However, an important process in the clinical treatment of this kind of ankle joint injury is functional recovery through massage and exercise after initial drug treatment or surgery; It is not easy to grasp, so that not only the recovery takes a long time, but also brings great pain to the patient, and even causes serious secondary injury. In the rehabilitation process, in order to improve the speed of rehabilitation and the effect of rehabilitation, people often carry out rehabilitation treatment with the help of some rehabilitation appliances. The Chinese patent authorization announcement number is CN 105125380 A, and the authorization announcement date is December 9, 2015. The invention name is: an ankle joint rehabilitation device; the Chinese patent authorization announcement number is CN 103041546 B, and the authorization announcement date is June 2015. On the 17th, the name of the invention is: active and passive ankle joint rehabilitation device; and there are many similar rehabilitation devices that play an important role in helping people perform rehabilitation. But the limitation of above-mentioned patented technology is: rehabilitation apparatus structure is complicated, huge, can only be used in medical unit, and patient can only go to medical unit for treatment, and it is not convenient for patient to carry and carry out rehabilitation treatment anytime and anywhere, so that its scope of use is restricted. Therefore, it is very important to invent a device that can be easily carried and conveniently carry out rehabilitation treatment.

Contents of the invention

The purpose of the present invention is to address the above problems and provide a portable ankle joint rehabilitation medical control device, which solves the problems of the prior art that it is not easy to carry and the patient cannot perform rehabilitation treatment anytime and anywhere, thereby shortening the rehabilitation treatment time of the patient .

To achieve the above object, the present invention adopts the following technical solutions:

A portable ankle joint rehabilitation medical control device, which includes:

a fixing unit, used for fixing the calf;

a rotating unit for fixing the feet;

A rotating connection part, which is used to connect the fixed unit and the rotating unit, and is used to generate a torque that causes the rotating unit to rotate relative to the fixed unit and then reset;

A pulling unit is used to set at least a first end and a second end (all are high-tension stretch belts), the first end is used to connect the fixed unit, and the second end is used to connect the rotating unit, It is characterized by:

A controller unit is arranged between the first end and the second end; and is used to control the pull unit to pull the rotation unit according to the setting change, so that at least the angle θ1 before rotation and the angle after rotation The θ2 room is relatively rotated with the fixed unit, and is used for ankle joint rehabilitation treatment, performing limb rehabilitation training, preventing muscle atrophy, and recovering ankle joint function at the same time.

In a specific implementation, the fixed unit is also provided with a pivotal connection end;

The rotating unit is also provided with a pair of connecting ears;

The rotating connection parts include:

A connecting shaft passes through the pivotal connecting end and the pair of connecting ears, and pivotally connects the fixing unit and the rotating unit;

A torsion element is sheathed on the connecting shaft, which is a torsion spring, and is used to provide the torsion force for resetting after the rotation unit rotates relative to the fixed unit, and the torsion element has at least one rotation contact end;

A limit control unit, including two limit switches respectively corresponding to the angle θ1 before the rotation and the angle θ2 after the rotation, and fixed in the pivot connection end, the two limit switches are used for the rotation touch end touch;

The controller unit includes:

A power supply is a high-energy rechargeable battery, and the power supply is used to provide the power required by the controller unit;

A control circuit, at least provided with a central processing unit, random access memory, and read-only memory, the control circuit is used to manipulate the controller unit to pull the rotating unit to rotate relative to the fixed unit according to the setting;

an input button for inputting at least one control signal to the control circuit;

A liquid crystal display screen, used to display the control signal input by the input button;

A motor, used for belt winding, is controlled by the control circuit, and operates according to the control signal input by the input button;

A gear is a set of transmission gears for reducing the power output by the motor;

A rolling pulley is used to pull the second end portion driven by the gear, so that the rotating unit rotates relative to the fixed unit.

The pulling unit also includes:

A torque sensor, arranged at the center point of the rolling pulley, used to detect the torque of the rolling pulley, and transmit the signal to the control circuit through the analog-to-digital converter A;

An angle sensor is arranged at the pivot connection end for detecting the rotation angle of the rotation unit, and transmits the signal to the control circuit through the analog-to-digital converter B.

In addition, the present invention also includes:

A connecting fastener, at least including a male fastener and a female fastener, the connecting fastener is arranged on the second end between the controller unit and the rotating unit, so that it is used to provide quick wear The convenience of taking off;

A voice device, used to make voice and inform the current action state;

A wireless transmitting device, at least including a transmitter and a receiver electrically connected to the control circuit, the wireless transmitting device is used to provide convenient wireless setting (remote control) function;

A safety off button, arranged in the input button, is a safety control device for stopping the action of the pulling unit in an emergency situation (such as leg cramps or pain causing discomfort).

The central processing unit of the control circuit of the present invention selects STM32f103T8U6 as the core control device, which is a 32-bit ARM Cortex-M core, a chip of up to 72MHz, and is electrically connected with a random access memory and a read-only memory, and the control circuit is connected with the control signal respectively. , the receiver of the wireless transmitting device, the voice device, the power supply, the liquid crystal display screen, the motor, the analog-to-digital converter A, and the analog-to-digital converter B are electrically connected, the input button is electrically connected to the control signal, and the motor shaft It is detachably and rigidly connected with the shaft hole of the driving wheel of the gear set through a flat key, and the shaft hole of the driven wheel of the gear set is connected with one end of the rolling pulley shaft through a flat key. The torque sensor is connected with the center point of the other end of the rolling pulley The pivot joint end is rigidly connected to the angle sensor, the angle sensor is electrically connected to the analog-to-digital converter B, and the receiver of the wireless transmitting device is wirelessly connected to the transmitter of the wireless transmitting device.

The present invention has at least the following two modes of action:

The first action mode - fixed action:

Input the set torque upper limit value and ankle joint limit value from the input button to the controller unit, and then start the motor, and the motor passes through the gears in a pattern of forward and reverse repeating regularity, The scrolling pulley is driven so that the scrolling pulley regularly winds up and loosens the second end, so that the rotation unit is at least The foot is moved between the angle θ1 before rotation and the angle θ2 after rotation, which is used for ankle joint injury treatment and functional recovery.

The second action mode - reciprocating action:

Input from the input button to the controller unit to set the upper limit value of the torque, the limit value of the ankle joint and the tightness interval ΔT of the belt (that is, the second end); then start the motor, and the motor passes through The gear drives the rolling pulley in a forward and reverse repeating pattern, so that the rolling pulley regularly winds up and loosens the second end, whereby the rotating unit Torque upper limit value, ankle joint limit value and belt tension interval time ΔT control, and at least between the angle θ1 before rotation and the angle θ2 after rotation, pull the foot with the belt tension interval time ΔT, Making ankle injury treatment for functional recovery more variable.

Beneficial effects: the invention discloses a portable ankle joint rehabilitation medical control device, the fixed unit and the rotating unit are used to fix the calf and the foot respectively, and the rotating connection part is used to generate the torque that makes the rotating unit rotate relative to the fixed unit and then reset; The pulling unit is used to connect the fixed unit and the rotating unit, and a controller unit is provided to control the pulling unit to pull the rotating unit according to the set value and change, so that it rotates relative to the fixed unit between the angle θ1 before rotation and the angle θ2 after rotation At the same time, it can also carry out active rehabilitation treatment, the interval time △T of belt tension can be set, it is equipped with a safety off button, which is quite safe to use, it is equipped with a wireless transmitter device, which is very convenient to operate, and it is equipped with a voice device 60 to directly inform the current action. Even if it is easy to carry, the rehabilitation treatment effect is good and the practicability is strong, and it is especially suitable for use in the rehabilitation treatment process of various ankle joint injuries.

Description of drawings

Fig. 1 is a perspective view of the present invention;

Fig. 2 is a schematic diagram of the structure of the pulling unit of the present invention;

Fig. 3A is a schematic diagram of the structure before the rotation of the rotating unit relative to the fixed unit in the present invention;

Fig. 3B is a schematic diagram of the structure of the rotating unit relative to the fixed unit after rotation of the present invention;

Fig. 4 is a structural schematic diagram of the rotating connection part of the present invention;

Fig. 5A is a schematic diagram of the structure of the rotating connection part of the present invention before it is rotated;

Fig. 5B is a schematic diagram of the structure of the rotating connection part of the present invention after rotation;

Fig. 6 is a schematic structural view of the connecting fastener of the present invention;

Fig. 7 is a functional block diagram of the action process control of the present invention;

Fig. 8 is a flow chart of the first action of the present invention;

Fig. 9 is a second action flowchart of the present invention;

Fig. 10A is an angle and timing diagram of the relative rotation of the pulling unit and the fixing unit in Fig. 8 of the present invention;

FIG. 10B is an angle and timing diagram of the relative rotation of the pulling unit and the fixing unit in FIG. 9 of the present invention.

In the figure: 10-fixed unit, 11-pivot connection end, 20-rotation unit, 21-connection ear, 30-rotation connection part, 31-connection shaft, 32-torsion element, 321-rotation touch end, 33 -limit control unit, 331-limit switch, 40-pull unit, 41-first end, 42-second end, 43-controller unit, 43A-central processing unit, 43B-random access memory, 43C-read-only Memory, 43D-control signal, 431-power supply, 432-control circuit, 433-input button, 434-LCD display, 435-motor, 436-gear set, 437-rolling pulley, 44-torque sensor, 441 -Analog-to-digital converter A, 45-angle sensor, 451-analog-to-digital converter B, 50-connection fastener, 51-male fastener, 52-female fastener, 60-voice device, 70-wireless transmitter, 71 -transmitter, 72-receiver, 80-safety closing button, 91-calf, 92-foot, θ1-angle before rotation, θ2-angle after rotation, L1-length before rotation, L2-length after rotation.

detailed description

The present invention will be described in detail below in conjunction with the accompanying drawings, but it should be pointed out that the implementation of the present invention is not limited to the following embodiments.

See Fig. 1-shown in Fig. 10, a kind of portable ankle joint rehabilitation medical control device, it comprises:

A fixing unit 10, used for fixing the lower leg 91;

A rotating unit 20 for fixing the feet 92;

A rotating connection part 30 is used to connect the fixed unit 10 and the rotating unit 20, and is used to generate a torque that causes the rotating unit 20 to rotate relative to the fixing unit 10 and then reset;

A pulling unit 40 is used to at least establish a first end 41 and a second end 42 (all are high-tension stretch belts), the first end 41 is used to connect the fixed unit 10, and the second end 42 For connecting the rotating unit 20, it is characterized in that:

A controller unit 43 is arranged between the first end portion 41 and the second end portion 42; and is used to control the pulling unit 40 to pull the rotating unit 20 according to the setting change, so that at least the angle before the rotation Between θ1 and the angle θ2 after rotation, it is relatively rotated with the fixing unit 10 for ankle joint rehabilitation treatment, limb rehabilitation training, prevention of muscle atrophy, and recovery of ankle joint function at the same time.

In a specific implementation, the fixing unit 10 is also provided with a pivotal connection end 11;

The rotating unit 20 is also provided with a pair of connecting ears 21;

The rotating connection part 30 includes:

A connecting shaft 31 passes through the pivotal connecting end 11 and the pair of connecting ears 21, and pivotally connects the fixing unit 10 and the rotating unit 20;

A torsion element 32 is sheathed on the connecting shaft 31, which is a torsion spring, and is used to provide the torsion force for resetting after the rotation unit 20 is rotated relative to the fixed unit 10. The torsion element 32 has at least one rotation touching end 321;

A limit control unit 33 includes two limit switches 331 (see Fig. 5A and Fig. 5B ) fixed in the pivotal connection end 11 respectively corresponding to the angle θ1 before rotation and the angle θ2 after rotation, the The two limit switches 331 are used for touching the rotating touch end 321;

The controller unit 43 includes:

A power supply 431 is a high-energy rechargeable battery, and the power supply 431 is used to provide the power required by the controller unit 43;

A control circuit 432 (shown in Figure 7), at least provided with a central processing unit 43A, random access memory 43B, read-only memory 43C, the control circuit 432 is used to manipulate the controller unit 43 to pull the rotation according to the setting The unit 20 rotates relative to the fixed unit 10;

an input button 433, used to input at least one control signal 43D to the control circuit 432;

A liquid crystal display 434, used to display the control signal 43D input by the input button 433;

A motor 435, used for belt winding, is controlled by the control circuit 432, and runs according to the control signal 43D input by the input button 433;

A gear set 436 is a set of transmission gears for reducing the power output by the motor 435;

A rolling pulley 437 is used for being driven by the gear set 436 to pull the second end portion 42 so that the rotating unit 20 rotates relative to the fixing unit 10 .

The pulling unit 40 also includes:

A torque sensor 44, arranged at the wheel center point of the rolling pulley 437, is used to detect the torque of the rolling pulley 437, and transmits the signal to the control circuit 432 through the analog-to-digital converter A441;

An angle sensor 45 is disposed on the pivotal connection end 11 for detecting the angle of rotation of the rotation unit 20 , and transmits the signal to the control circuit 432 through the analog-to-digital converter B451 .

In addition, the present invention also includes:

A connecting fastener 50, at least including a male fastener 51 and a female fastener 52 (as shown in FIG. 6 ), the connecting fastener 50 is arranged on the said controller unit 43 and the said rotating unit 20 On the second end 42, it is used to provide convenience for quick putting on and taking off;

A voice device 60, used to make voice and inform the current action state;

A wireless transmitting device 70, at least including a transmitter 71 and a receiver 72 electrically connected to the control circuit 432, the wireless transmitting device 70 is used to provide convenient wireless setting (remote control) function;

A safety off button 80 is provided in the input button 433 , and is used as a safety control device for stopping the action of the pulling unit 40 in case of emergency (such as leg cramps or discomfort pain).

As shown in Figure 7, the central processing unit 43A of the control circuit 432 of the present invention selects STM32f103T8U6 as a core control device, which is a 32-bit ARM Cortex-M core, a chip with a maximum of 72MHz, and is electrically connected with a random access memory 43B, a read-only memory 43C, the control circuit 432 is electrically connected to the control signal 43D, the receiver 72 of the wireless transmitting device 70, the voice device 60, the power supply 431, the liquid crystal display screen 434, the motor 435, the analog-to-digital converter A441, and the analog-to-digital converter B451. The input button 433 is electrically connected to the control signal 43D, the shaft of the motor 435 is connected to the shaft hole of the driving wheel of the gear set 436 through a flat key, and the shaft hole of the driven wheel of the gear set 436 is connected to the rolling pulley 437 One end of the shaft is detachably rigidly connected by a flat key, the torque sensor 44 is rigidly connected to the center point of the other end of the rolling pulley 437, the pivot connection end 11 is rigidly connected to the angle sensor 45, and the angle sensor 45 is rigidly connected to the angle sensor 45. The analog-to-digital converter B451 is electrically connected, and the receiver 72 of the wireless transmitting device 70 is wirelessly connected to the transmitter 71 of the wireless transmitting device 70 .

The present invention has at least the following two modes of action:

The first action mode - fixed action:

As shown in Fig. 8 and Fig. 10A, input and set torque upper limit value and ankle joint limit value to described controller unit 43 from described input button 433, then start described motor 435, and motor 435 passes through described gear group 436, and in the pattern of forward and reverse repeating and regular alternation, drive the rolling pulley 437, so that the rolling pulley 437 regularly winds and loosens the second end 42, thereby, the rotation The unit 20 moves the foot 92 at least between the pre-rotation angle θ1 and the post-rotation angle θ2 according to the control of the torque upper limit value and the ankle joint limit value, which is used for ankle joint injury treatment and functional recovery.

The second action mode - reciprocating action:

As shown in Fig. 9 and Fig. 10B, input and set torque upper limit value, ankle joint limit value and belt (ie, the second end 42) tightness interval to the controller unit 43 from the input button 433 Time ΔT; then start the motor 435, the motor 435 passes through the gear set 436, and drives the rolling pulley 437 in a pattern of forward and reverse repeating and regular alternation, so that the rolling pulley 437 regularly rolls Take and loosen the second end portion 42, thereby, the rotation unit 20 is controlled by the upper limit value of the torque moment, the limit value of the ankle joint and the interval time ΔT of belt tension, at least at the angle θ1 before the rotation The foot 92 is pulled at an interval time ΔT between the belt tension and the angle θ2 after the rotation, so that the functional recovery of the ankle joint injury treatment is more variable.

Further, the present invention can carry out active rehabilitation treatment. The pulling unit 40 is provided with a driving motor 435, and when the calf 91 and the foot 92 are not exerted force, the upper limit of the torque torque and the ankle joint can be set. Limit value, actively carry out rehabilitation treatment for ankle joint injuries. During the rehabilitation process, the hands do not need to touch the feet 92, which is quite easy for rehabilitation treatment.

Further, the belt tightness interval ΔT of the present invention can be set, and the pulling unit 40 can also set the belt tightness interval time in addition to inputting the upper limit value of the torque torque and the ankle joint limit value. Timing, resulting in different lengths of belt tightening action, makes the rehabilitation process more variable.

Further, the present invention is provided with a safety close button 80, and in the rehabilitation process, once leg cramps or uncomfortable pain occurs, the rehabilitation action can be stopped quickly with the safety close button 80, which is quite safe to use.

Further, the present invention is provided with the wireless transmitting device 70 which is quite convenient to operate, and can achieve the convenience of using the wireless transmitting device 70 to remotely control the present invention for rehabilitation without touching the controller unit 43 .

Further, the present invention is provided with a speech device 60 that can directly send out speech to inform the current action state, so that the action of the present invention can be known directly by speech without observing the liquid crystal display 434, which is quite convenient.

The above-mentioned embodiments are only to illustrate the technical features and ideas of the present invention, and its purpose is to enable those skilled in the art to understand the content of the present invention and implement it, and not to limit the protection scope of the present invention. Equivalent changes or modifications made according to the spirit and implementation of the present invention shall fall within the protection scope of the present invention.

Claims (7)

1. a kind of portable rehabilitation of anklebone medical treatment control device, it includes：

One fixed cell, for being fixed for shank；

One rotating unit, for being fixed for foot；

One rotatable connecting portion, for unit and the rotating unit of being connected, and makes rotating unit be relatively fixed list for producing The torsion that unit resets again after rotating；

One pulls unit, and at least setting a first end and a second end, the first end is used for the unit that is connected, should The second end is used to connect rotating unit, it is characterised in that：

One controller unit, is arranged between the first end, the second end；And for controlling the pulling unit according to setting Change pulls the rotating unit, makes its angle, θ 1 and after rotating between angle, θ 2 at least before the rotation, with the fixed cell phase To rotating, for rehabilitation of anklebone treatment, limb rehabilitation training is carried out, prevent muscular atrophy, while recovering ankle joint function.

2. a kind of portable rehabilitation of anklebone medical treatment control device according to claim 1, it is characterised in that：

The fixed cell is additionally provided with a pivot joint connection end；

The rotating unit is additionally provided with a pair of engaging lugs；

The rotatable connecting portion includes：

One connection rotating shaft is arranged in the pivot joint connection end and the pair of engaging lug, and is pivotally connected the fixed cell with described turn Moving cell；

One torque component is sheathed on the connection rotating shaft, and it is torque spring, and for providing the rotating unit with respect to institute State fixed cell rotate after, the torsion that resets again, the torque component at least has one to rotate to touch end；

One limit control unit, including angle, θ 2 after corresponding to before the rotation angle, θ 1 respectively and rotating, and are fixed on the pivot Two limit switches in connection end are connect, described two limit switches are touched for touching end for the rotation.

3. a kind of portable rehabilitation of anklebone medical treatment control device according to claim 1, it is characterised in that：

The second end is high-tension telescopic belt；

The controller unit includes：

One electrical source of power, is high-energy rechargeable battery, the electric power that the electrical source of power is used for needed for providing the controller unit；

One control circuit, at least provided with a CPU, random access memory, read-only storage, the control circuit is used The rotating unit is pulled to be rotated relative to the fixed cell according to setting in the controller unit is manipulated；

One load button, for being input at least one control signal to the control circuit；

One LCDs, the control signal for showing the load button input；

One motor, batches for belt, and by the control circuit control, and the control signal being input into according to the load button is transported Turn；

One gear train, is that the power that one group of travelling gear is used to export in the motor makees output of slowing down；

One scrolling belt pulley, for being pulled the second end by the gear drive so that the rotating unit is with respect to institute State fixed cell rotation.

4. a kind of portable rehabilitation of anklebone medical treatment control device according to claim 1, it is characterised in that：

The pulling unit also includes：

One torsional moment sensor, is arranged at the core wheel point of the scrolling belt pulley, the torsion for detecting the scrolling belt pulley Torque, and the control circuit is transmitted a signal to by analog-digital converter A；

One angular transducer, is arranged at the pivot joint connection end, for detecting the angle rotated in the rotating unit, and passes through Analog-digital converter B transmits a signal to the control circuit.

5. a kind of portable rehabilitation of anklebone medical treatment control device according to claim 1, it is characterised in that：

Present invention additionally comprises：

One connection fastener, at least including male fastener, mother buckle, the connection fastener is arranged at the controller unit with described turn On the second end between moving cell；

One voice device, for sending voice, informing current operating state；

One wireless remote controller, is at least electrically connected with the receiver of the control circuit including a transmitter and one；

One safety shutdown button, is arranged in load button, for stopping drag action in an emergency situation.

6. controller unit according to claim 3, it is characterised in that：

It is described control circuit respectively with control signal, the receiver of wireless launcher, voice device, electrical source of power, liquid crystal Display screen, motor, analog-digital converter A, analog-digital converter B are electrically connected with；

The load button is electrically connected with control signal；

The motor is connected with gear train driving wheel Demountable rigid；

The gear train driven pulley is connected with scrolling Pulley shaft one end Demountable rigid；

It is rigidly connected at the torsional moment sensor and scrolling belt pulley other end core wheel point,

The pivot joint connection end is rigidly connected with angular transducer,

The angular transducer is electrically connected with analog-digital converter B,

The receiver of the wireless launcher and transmitter wireless connection.

7. controller unit according to claim 3, it is characterised in that：

The CPU is from STM32f103T8U6 chips and is electrically connected with random access memory, read-only storage.