CN109907936B - Upper limb rehabilitation training equipment based on virtual reality - Google Patents
Upper limb rehabilitation training equipment based on virtual reality Download PDFInfo
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Abstract
The invention discloses upper limb rehabilitation training equipment based on virtual reality, which comprises a human-computer interaction system, a virtual reality system, a control system and a rehabilitation robot arm, wherein the rehabilitation robot arm is arranged on an upper limb of a patient to be trained; the human-computer interaction system is used for acquiring upper limb data of an upper limb and selecting a training mode corresponding to the patient according to the upper limb data; the control system is used for acquiring motion data of the rehabilitation robot arm during training in the training mode and sending the motion data to the virtual reality system; the virtual reality system is used for selecting a training scene corresponding to the patient according to the upper limb data and is also used for fusing the motion data and the training scene to generate a three-dimensional image. The upper limb rehabilitation training device can cover the whole rehabilitation period of the patient, various training mode selections and a virtual reality scene integrated into a life scene, and the virtual reality technology can easily guide the patient to complete a specific action task and improve the training effect of the patient.
Description
Technical Field
The invention belongs to the field of rehabilitation robots, and particularly relates to upper limb rehabilitation training equipment based on virtual reality.
Background
The number of the existing stroke patients in China is huge, about 75 percent of the stroke patients can leave sequelae with different degrees after the disease occurs, the incidence rate of hemiplegia is the highest among the sequelae, and the rehabilitation of the function of limbs is the most difficult in the rehabilitation of the hemiplegia. The medical theory and clinical medicine prove that the scientific rehabilitation training plays no more important role in the limb function rehabilitation of the stroke hemiplegia patients except for operation treatment and drug treatment.
The upper limb rehabilitation training device integrates sensing, control, information and the like, can assist a stroke hemiplegia patient to carry out postoperative rehabilitation training, and can enable the patient to recover health in as short a time as possible according to modern Evidence-Based Medicine (EBM) and Continuous Passive Motion (CPM) theories, while the upper limb rehabilitation training device sold in the market at present has single structure, function and training mode and cannot meet the training requirements of a full rehabilitation period, some virtual reality systems are applied in practice, such as CAVE system of the university of Enlino in America, CAREN system of Motek and the like, but the systems have many problems, such as high cost, large floor area and mostly immersive virtual reality systems, and are not suitable for popularization of most domestic hospitals and rehabilitation training of the stroke hemiplegia patient.
Disclosure of Invention
The invention provides the upper limb rehabilitation training equipment based on virtual reality, aiming at overcoming the defect that the upper limb rehabilitation training equipment adopting a virtual reality mode and a training mode are single in the prior art.
The invention solves the problems through the following technical scheme:
an upper limb rehabilitation training device based on virtual reality comprises a human-computer interaction system, a virtual reality system, a control system and a rehabilitation robot arm, wherein the rehabilitation robot arm is arranged on an upper limb of a patient to be trained;
the human-computer interaction system is used for acquiring upper limb data of the upper limb and selecting a training mode corresponding to the patient according to the upper limb data;
the control system is used for acquiring motion data of the rehabilitation robot arm during training in the training mode and sending the motion data to the virtual reality system;
the virtual reality system is used for selecting a training scene corresponding to the patient according to the upper limb data and fusing the motion data and the training scene to generate a three-dimensional image.
Preferably, the human-computer interaction system comprises a data acquisition module, an evaluation module, a mode setting module and a first data interaction module;
the data acquisition module is used for acquiring the upper limb data and sending the upper limb data to the evaluation module;
the evaluation module is used for evaluating the upper limb data, generating an evaluation result and sending the evaluation result to the mode setting module;
the mode setting module is used for selecting the corresponding training mode according to the evaluation result and sending the training mode to the first data interaction module;
the first data interaction module is used for receiving the training mode and sending the training mode to the control system.
Preferably, the human-computer interaction system further comprises a report storage module;
the evaluation module is also used for sending the evaluation result to the report storage module;
and the report storage module is used for receiving and storing the evaluation result.
Preferably, the control system comprises a second data interaction module and a robot supervision module;
the first data interaction module is used for sending the training mode to the second data interaction module, and the second data interaction module is used for sending the training mode to the robot arm supervision module;
the robot arm supervision module is used for acquiring the motion data in the training mode and sending the motion data to the second data interaction module;
the second data interaction module is further used for sending the motion data to the virtual reality system.
Preferably, the human-computer interaction system further comprises a motion track setting module, and the control system comprises a robot arm driving module;
the data acquisition module is further used for sending the upper limb data to the motion trail setting module, and the motion trail setting module is used for selecting a corresponding motion trail according to the upper limb data and sending the motion trail to the first data interaction module;
the first data interaction module is used for sending the motion track to the second data interaction module, and the second data interaction module is used for sending the motion track to the robot arm driving module;
and the robot arm driving module is used for driving the robot arm to move according to the motion track and driving the upper limb to move.
Preferably, the second data interaction module is further configured to send the motion data to the first data interaction module, and the first data interaction module is configured to send the motion data to the evaluation module;
the evaluation module is used for evaluating according to the motion data and the upper limb data.
Preferably, the virtual reality system comprises a third data interaction module, a scene setting module and a data processing module;
the data acquisition module is further used for sending the upper limb data to the first data interaction module, the first data interaction module is used for sending the upper limb data to the third data interaction module, and the third data interaction module is used for sending the upper limb data to the scene setting module;
the scene setting module is used for selecting the corresponding training scene according to the upper limb data;
the second data interaction module is used for sending the motion data to the third data interaction module, and the third data interaction module is used for sending the motion data to the data processing module;
the data processing module is used for generating the three-dimensional image according to the fusion of the motion data and the training scene.
Preferably, the virtual reality system further comprises a display module;
the data processing module is also used for sending the three-dimensional image to the display module;
the display module is used for receiving and displaying the three-dimensional image.
Preferably, the training modes include an active training mode, a boosted training mode, a passive training mode and a teaching training mode.
Preferably, the upper limb data includes at least one of joint mobility data, muscle strength data and cognitive ability data.
The positive progress effects of the invention are as follows: the upper limb rehabilitation training system can cover the whole rehabilitation period of the patient, various training mode selections and a virtual reality scene integrated into a life scene, and the virtual reality technology can easily guide the patient to complete a specific action task and improve the training effect of the patient.
Drawings
Fig. 1 is a block diagram of a virtual reality-based upper limb rehabilitation training device according to embodiment 1 of the present invention.
Fig. 2 is a block diagram of a virtual reality-based upper limb rehabilitation training device according to embodiment 2 of the present invention.
Fig. 3 is a block diagram of an upper limb rehabilitation training device based on virtual reality according to embodiment 3 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
An upper limb rehabilitation training device based on virtual reality is specifically shown in fig. 1, and comprises a human-computer interaction system 1, a virtual reality system 2, a control system 3 and a rehabilitation robot arm 4, wherein the rehabilitation robot arm 4 is arranged on an upper limb of a patient to be trained; it should be noted that the upper limb of the patient to be trained is tied to the rehabilitation robot arm by a detachable connector (such as a tying band), so that the rehabilitation robot arm and the upper limb of the patient to be trained move synchronously.
The human-computer interaction system 1 is used for acquiring upper limb data of the upper limb and selecting a training mode corresponding to the patient according to the upper limb data; the training mode comprises an active training mode, an assisted training mode, a passive training mode and a teaching training mode; the upper limb data comprises at least one of joint activity data, muscle strength data and cognitive ability data;
the control system 3 is used for acquiring motion data of the rehabilitation robot arm 4 during training in the training mode and sending the motion data to the virtual reality system 2;
the virtual reality system 2 is configured to select a training scene corresponding to the patient according to the upper limb data, and is further configured to fuse the motion data with the training scene to generate a three-dimensional image.
It should be noted that, after the patient wears the upper limb rehabilitation training device, corresponding information of the patient is input, the patient is further evaluated, a training mode adapted to the patient is selected according to an evaluation result, if the evaluation result indicates that the patient can exercise by himself, an active mode is selected for training, if the evaluation result indicates that the patient has certain exercise capacity, a power-assisted mode is selected for training, and if the evaluation result indicates that the patient cannot exercise by himself, a passive mode or a teaching mode is selected for training;
in addition, under the corresponding training mode, the virtual reality system selects different training scenes according to the upper limb condition of the patient, the training scenes can be virtual games such as small games for training the upper limb by receiving fruits, eating gold coins or cutting vegetables, wherein the games with different grades can be selected according to the upper limb condition of the patient for training, and meanwhile, the virtual games have active visual and/or auditory stimulation effects on the nerve center of the patient, stimulate the damaged nerve center to reconstruct and drive the affected side limb of the patient to move.
The upper limb rehabilitation training system in the embodiment can cover the whole rehabilitation period of the patient, various training mode selections and a virtual reality scene integrated into a life scene, and the virtual reality technology can easily guide the patient to complete a specific action task and improve the training effect of the patient.
Example 2
The upper limb rehabilitation training device based on virtual reality of the present embodiment is a further improvement on the basis of embodiment 1, specifically as shown in fig. 2, the human-computer interaction system 1 includes a data acquisition module 11, an evaluation module 12, a mode setting module 13, a first data interaction module 14, and a report storage module 15; the control system 3 comprises a second data interaction module 31 and a robot supervision module 32; the virtual reality system 2 comprises a third data interaction module 21, a scene setting module 22, a data processing module 23 and a display module 24;
the data acquisition module 11 is configured to acquire the upper limb data and send the upper limb data to the evaluation module 12;
the evaluation module 12 is configured to evaluate the upper limb data, generate an evaluation result, and send the evaluation result to the mode setting module 13 and the report storage module 15;
the mode setting module 13 is configured to select the corresponding training mode according to the evaluation result, and send the training mode to the first data interaction module 14, where the first data interaction module 14 is configured to receive the training mode and send the training mode to the second data interaction module 31;
the report storage module 15 is used for receiving and storing the evaluation result.
The second data interaction module 31 is configured to send the training mode to the robot arm supervision module 32, the robot arm supervision module 32 is configured to obtain the motion data in the training mode and send the motion data to the second data interaction module 31, and the second data interaction module 31 is further configured to send the motion data to the third data interaction module 21.
The data obtaining module 11 is further configured to send the upper limb data to the first data interaction module 14, the first data interaction module 14 is configured to send the upper limb data to the third data interaction module 21, and the third data interaction module 21 is configured to send the upper limb data to the scene setting module 22;
the scene setting module 22 is configured to select the corresponding training scene according to the upper limb data;
the third data interaction module 21 is configured to send the motion data to the data processing module 23;
the data processing module 23 is configured to generate the three-dimensional image according to the fusion of the motion data and the training scene, and send the three-dimensional image to the display module 24;
the display module 24 is configured to receive and display the three-dimensional image.
It should be noted that the control system 3 may further include an intelligent sensing module (not shown in the figure), a smoothing processing module (not shown in the figure), and a safety processing module (not shown in the figure), where the intelligent sensing module can automatically identify the movement intention of the patient, so as to provide a guarantee for good user experience; the smoothing module enables the patient to move smoothly from the current point to the next position point, so that the comfort of using the equipment is improved; the safety processing module is used for detecting whether the rehabilitation robot arm breaks down in real time in the process of patient training and carrying out fault removal processing in real time, and if fault removal cannot be successfully carried out, stopping current training.
Example 3
The virtual reality-based upper limb rehabilitation training device of the present embodiment is further improved on the basis of embodiment 2, specifically as shown in fig. 3, the human-computer interaction system further includes a motion trajectory setting module 16, and the control system 3 includes a robot arm driving module 33;
the data acquisition module 11 is further configured to send the upper limb data to the motion trajectory setting module 16, where the motion trajectory setting module 16 is configured to select a corresponding motion trajectory according to the upper limb data, and send the motion trajectory to the first data interaction module 14;
the first data interaction module 14 is configured to send the motion trajectory to the second data interaction module 31, and the second data interaction module 31 is configured to send the motion trajectory to the robot arm driving module 33;
the robot arm driving module 33 is configured to drive the rehabilitation robot arm 4 to move according to the motion trajectory and drive the upper limb to move.
In this embodiment, the patient can be trained and used by setting a specific motion trajectory, and the upper limb of the patient can be exercised comprehensively.
Example 4
The virtual reality-based upper limb rehabilitation training device of the embodiment is further improved on the basis of the embodiment 2, the second data interaction module is further configured to send the motion data to the first data interaction module, and the first data interaction module is configured to send the motion data to the evaluation module;
the evaluation module is used for evaluating according to the motion data and the upper limb data.
In this embodiment, after each training, the patient brings the current training situation into the evaluation of the next training, so that the upper limb situation of the patient can be evaluated more accurately, and a more appropriate training mode and training scenario can be selected.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (8)
1. An upper limb rehabilitation training device based on virtual reality is characterized by comprising a human-computer interaction system, a virtual reality system, a control system and a rehabilitation robot arm, wherein the rehabilitation robot arm is arranged on an upper limb of a patient to be trained;
the human-computer interaction system is used for acquiring upper limb data of the upper limb and selecting a training mode corresponding to the patient according to the upper limb data;
the control system is used for acquiring motion data of the rehabilitation robot arm during training in the training mode and sending the motion data to the virtual reality system;
the virtual reality system is used for selecting a training scene corresponding to the patient according to the upper limb data and fusing the motion data and the training scene to generate a three-dimensional image;
the human-computer interaction system also comprises a motion track setting module, wherein the motion track setting module is used for selecting a corresponding motion track according to the upper limb data;
the virtual reality system comprises a scene setting module, wherein the scene setting module is used for selecting the corresponding training scene according to the upper limb data;
the upper limb data comprises at least one of joint activity data, muscle strength data and cognitive ability data;
under a corresponding training mode, the virtual reality system selects different training scenes according to the upper limb conditions of the patient;
the training modes comprise an active training mode, an assisted training mode, a passive training mode and a teaching training mode.
2. The upper limb rehabilitation training device of claim 1, wherein the human-computer interaction system comprises a data acquisition module, an evaluation module, a mode setting module and a first data interaction module;
the data acquisition module is used for acquiring the upper limb data and sending the upper limb data to the evaluation module;
the evaluation module is used for evaluating the upper limb data, generating an evaluation result and sending the evaluation result to the mode setting module;
the mode setting module is used for selecting the corresponding training mode according to the evaluation result and sending the training mode to the first data interaction module;
the first data interaction module is used for receiving the training mode and sending the training mode to the control system.
3. The upper limb rehabilitation training device of claim 2, wherein the human-computer interaction system further comprises a report storage module;
the evaluation module is also used for sending the evaluation result to the report storage module;
and the report storage module is used for receiving and storing the evaluation result.
4. The upper limb rehabilitation training device of claim 2, wherein the control system comprises a second data interaction module and a robotic arm supervision module;
the first data interaction module is used for sending the training mode to the second data interaction module, and the second data interaction module is used for sending the training mode to the robot arm supervision module;
the robot arm supervision module is used for acquiring the motion data in the training mode and sending the motion data to the second data interaction module;
the second data interaction module is further used for sending the motion data to the virtual reality system.
5. The upper limb rehabilitation training device of claim 4, wherein the control system comprises a robotic arm drive module;
the data acquisition module is also used for sending the upper limb data to the motion trail setting module, and the motion trail setting module is also used for sending the motion trail to the first data interaction module; the first data interaction module is used for sending the motion track to the second data interaction module, and the second data interaction module is used for sending the motion track to the robot arm driving module;
the robot arm driving module is used for driving the rehabilitation robot arm to move according to the motion trail and driving the upper limb to move.
6. The upper limb rehabilitation training device of claim 4, wherein the second data interaction module is further configured to send the movement data to the first data interaction module, and the first data interaction module is configured to send the movement data to the evaluation module;
the evaluation module is used for evaluating according to the motion data and the upper limb data.
7. The upper limb rehabilitation training device of claim 4, wherein the virtual reality system further comprises a third data interaction module and a data processing module;
the data acquisition module is further used for sending the upper limb data to the first data interaction module, the first data interaction module is used for sending the upper limb data to the third data interaction module, and the third data interaction module is used for sending the upper limb data to the scene setting module;
the second data interaction module is used for sending the motion data to the third data interaction module, and the third data interaction module is used for sending the motion data to the data processing module;
the data processing module is used for generating the three-dimensional image according to the fusion of the motion data and the training scene.
8. The upper limb rehabilitation training device of claim 7, wherein the virtual reality system further comprises a display module;
the data processing module is also used for sending the three-dimensional image to the display module;
the display module is used for receiving and displaying the three-dimensional image.
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| CN110264798B (en) * | 2019-06-25 | 2021-09-07 | 范平 | Wearable system and teaching method applied to wearable system |
| CN110176162B (en) * | 2019-06-25 | 2021-09-21 | 范平 | Wearable system and teaching method applied to wearable system |
| CN110711361A (en) * | 2019-10-29 | 2020-01-21 | 东北大学 | Upper limb rehabilitation training method and system based on virtual scene |
| CN112379783B (en) * | 2019-11-15 | 2021-12-07 | 同济大学 | Virtual reality system for enhancing upper limb multidirectional movement of user immersion |
| CN114949780A (en) * | 2021-02-26 | 2022-08-30 | 浙江凡聚科技有限公司 | Rehabilitation training system and method after total shoulder arthroplasty based on virtual reality |
| CN113633937A (en) * | 2021-08-26 | 2021-11-12 | 东北大学 | Virtual reality upper limb rehabilitation operation treatment system |
| CN114588611B (en) * | 2021-12-31 | 2023-03-31 | 厦门威恩科技有限公司 | Rehabilitation system, control method and storage medium of rehabilitation swing machine |
| CN120089281A (en) * | 2025-01-16 | 2025-06-03 | 佛山创亿源智能科技有限公司 | Patient remote rehabilitation management method, device, equipment and medium |
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| US6162189A (en) * | 1999-05-26 | 2000-12-19 | Rutgers, The State University Of New Jersey | Ankle rehabilitation system |
| CN102614061A (en) * | 2012-03-01 | 2012-08-01 | 上海理工大学 | Human body upper limb functional rehabilitation training implement method based on muscle tone signals |
| CN104317196B (en) * | 2014-09-29 | 2017-06-06 | 华南理工大学 | A kind of upper-limbs rehabilitation training robot control method based on virtual reality |
| CN105288933B (en) * | 2015-11-20 | 2017-07-07 | 武汉理工大学 | Lower limb rehabilitation robot adaptive training control method in parallel and healing robot |
| CN106420254A (en) * | 2016-09-14 | 2017-02-22 | 中国科学院苏州生物医学工程技术研究所 | Multi-person interactive virtual reality rehabilitation training and evaluation system |
| CN106389072A (en) * | 2016-11-28 | 2017-02-15 | 东北大学 | Virtual reality interactive system and method of five-degree-of-freedom upper limb rehabilitation robot |
| CN107049702A (en) * | 2017-03-29 | 2017-08-18 | 东南大学 | A kind of lower limbs rehabilitation training robot system based on virtual reality |
| CN107261417A (en) * | 2017-07-07 | 2017-10-20 | 广州康医疗设备实业有限公司 | Man-machine interactive system for rehabilitation training of upper limbs |
| CN107174793A (en) * | 2017-07-07 | 2017-09-19 | 广州康医疗设备实业有限公司 | The rehabilitation training of upper limbs method moved based on track |
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