DE102005004074A1 - Kinematic person lying device for relaxing and therapeutic purpose, has five dimensionally stable body part support areas arranged in rope fixation units or rope bearing of support device in suspended oscillating manner by ropes - Google Patents

Abstract

The device has five dimensionally stable body part support areas (1) with one torso-head area, two arm areas, two leg areas , where the dimensions and cushioning of the areas are adjusted corresponding to the body parts. Each area is arranged in a manual or motor adjustable or movable rope fixation units or rope bearing of a support device (16) in a suspended oscillating manner. The head area is supported by ropes in a suspended manner.

Description

• – Bei den bekannten Entspannungsliegen sind Ganzkörper-Auflageflächen schwingend, pendelnd oder federnd gelagert. Hier erfahren alle Körperpartien synchron die gleichen Bewegungsabläufe mit gleichen Bewegungsfreiheitsgraden, insbesondere der Schwingung. Die Gelenke bleiben bei diesen Varianten relativ unbeweglich.
• – Im medizinischen Einsatz sind anatomisch gegliederte Behandlungsliegen mit verstellbaren formstabilen Auflageflächen die zur Aufnahme der entsprechenden Körperteile größendimensioniert sind. Diese können in einer gewünschten Position unbeweglich fixiert werden, sodass der Patient in entsprechender Stellung aufliegen, und behandelt werden kann. Hier sind Verstellgelenke für die Positionsänderung konzipiert, welche manuell oder elektromechanisch erfolgt. Oft sind hier nicht alle Auflageflächen beweglich und/oder die Auflageflächen sind mit nur wenigen, eingeschränkten Freiheitsgraden beweglich. Für ein bewegliches Auflagern sind die bekannten Behandlungs- oder Therapieliegen nicht konzipiert.
• – Auch Luft- oder Wasserbetten und Matratzen weisen bewegliche Segmente auf. Diese sind regelmäßig über die Auflagefläche verteilt angeordnet. Eine gelenkbewegliche Lagerung des Körpers ist hier nur eingeschränkt möglich.
• – In der Physiotherapie sind sog. Schlingentische zur Behandlung orthopädischer oder neurologischer Krankheitsbilder im Einsatz. Hier lagert der Körper frei beweglich hängend in mehreren, nicht formstabilen, flexiblen Schlingen aus festem Stoff oder Leder, die sich eng um die Körperextremitäten formen und dem Therapeuten Gelenkextensionen erleichtern. Eine Verschiebung der Auflagepunkte bzw. der Schlingen durch den Benutzer ist hier jedoch nur schwerlich möglich. Um ein Zusammendrücken des Beckens zu vermeiden sind formstabile Auflageflächen für den Beckenbereich als Zubehör für Schlingentische bekannt. Für viele andere bewegungstherapeutische Anwendungen, insbesondere für entspanntes, gelenkbewegliches Aufliegen bei ungehinderter Durchblutung, eignen sich Schlingentische, auch wegen dem zeitaufwendigen fachgerechten Einhängen nicht.
• – Zur Messung von lagerungsbedingt aufgetretenen Gewichten und Kräften in bestimmten Körperhaltungen, wurde an der TU-München ein Schwebegestell entwickelt. Die Auflageelemente sind hier auf Hebelmechanismen, oder mit Aufhängungen über Umlenkrollen an variablen Gegengewichten bzw. Wägevorrichtungen gelagert. Teilweise sind hier die kinematischen Freiheitsgrade der Auflageelemente durch die Zwangsbedingungen der Mechanik eingeschränkt. Arme und Beine sind ähnlich wie beim Schlingentisch in Manschetten eingebunden. Eine Anwendung der Vorrichtung über den Forschungsbereich hinaus ist schon aufgrund der aufwendigen Mechanik nicht gegeben. Veröffentlichung: www. lfe mw.tum.de/forschung/humanmodeling/messsys.htm
• – In den Veröffentlichungen DE 101 39 746 A1 , GB 696 239 , DE 44 17 570 A1 und DE 196 18 695 A1 sind Sitz- oder Liegeflächen derart beweglich gelagert, dass nur eingeschränkte, z. B. kreis- oder achterartige Bewegungsmuster mit wenigen kinematischen Freiheitsgraden ermöglicht werden.
• – In GB 22 78 264 gleiten mehrere Auflageflächen jeweils an 2 Ecken in Führungsschienen, sodass die Auflageflächen über die Kantenachen beweglich sind. Zusätzlich sind die kompletten Liegeflächen mit allen Auflageflächen gleichförmig zu bewegen. Diese Zwangsbedingung reduziert die Zahl der unabhängigen Freiheitsgrad-Koordinanten und die individuelle Bewegungsfreiheit der einzelnen Auflageflächen.
• – In GB 22 78 264 A , US 11 01 962 und vielen weiteren Veröffentlichungen, wird eine Ganzkörperliegefläche unterschiedlichst in Bewegung versetzt und/oder die Auflageflächen weisen lagerungsbedingt nur sehr eingeschränkte Bewegungsfreiheitsgrade auf.

The invention relates to a device on which a human body can move.

• - In the known relaxation beds whole body support surfaces are swinging, pendulum or spring mounted. Here, all parts of the body experience synchronously the same movements with the same degrees of freedom of movement, in particular the vibration. The joints remain relatively immobile in these variants.
• - In medical use anatomically articulated treatment tables with adjustable dimensionally stable support surfaces are sized to accommodate the corresponding body parts. These can be immovably fixed in a desired position, so that the patient can rest in the appropriate position, and can be treated. Here are adjustable joints designed for the change in position, which is done manually or electromechanically. Often not all bearing surfaces are movable here and / or the bearing surfaces are movable with only a few, limited degrees of freedom. For a mobile Auflagern the known treatment or therapy tables are not designed.
• - Also air or water beds and mattresses have moving segments. These are regularly distributed over the support surface. A jointed storage of the body is only possible to a limited extent here.
• - In physiotherapy, so-called sling tables are used to treat orthopedic or neurological conditions. The body hangs freely suspended in several flexible, non-dimensional, flexible slings made of solid fabric or leather, which form tightly around the body extremities and facilitate the therapist's joint extensions. A displacement of the support points or loops by the user is here, however, hardly possible. In order to avoid compression of the pelvis, dimensionally stable support surfaces for the pelvic area are known as accessories for sling tables. For many other motion therapy applications, especially for relaxed, jointed resting on unhindered circulation, sling tables are not suitable, also because of the time-consuming professional hanging.
• - To measure bearing-related occurring weights and forces in certain postures, a floating frame was developed at the Technical University of Munich. The support elements are mounted here on lever mechanisms, or with suspensions on pulleys on variable counterweights or weighing devices. In some cases, the kinematic degrees of freedom of the support elements are limited by the constraints of the mechanics. Arms and legs are similar to the sling table in cuffs involved. An application of the device beyond the field of research is not given due to the complex mechanics. Publication: www. lfe mw.tum.de/forschung/humanmodeling/messsys.htm
• - In the publications DE 101 39 746 A1 . GB 696,239 . DE 44 17 570 A1 and DE 196 18 695 A1 are sitting or lying areas mounted so movable that only limited, z. B. circular or achterartige movement pattern with a few kinematic degrees of freedom.
• - In GB 22 78 264 slide several support surfaces each at 2 corners in guide rails, so that the support surfaces are movable over the edges of things. In addition, the complete lying surfaces with all support surfaces are to move uniformly. This constraint reduces the number of independent degree of freedom coordinates and the individual freedom of movement of the individual bearing surfaces.
• - In GB 22 78 264 A . US 11 01 962 and many other publications, a whole body lying surface is set in motion and / or the bearing surfaces have due to storage only very limited degrees of freedom of movement.

A individual free mobility of individual body sections, in here meant Meaning, with the same and / or more kinematic degrees of freedom the translation, the rotation and the vibration like a pendulum has, is not given in the known devices.

Of the Invention has for its object to provide a device on the a human body body sections, each with degrees of freedom of translation, rotation and can store the vibration articulated.

According to the invention this object is achieved in that a reclining device of at least 5 dimensionally stable body portion bearing surfaces 1 is formed, whose dimensions of the surface support of body sections meet, and which are characterized in that they are with the same and / or more kinematic degrees of freedom of translation, rotation and vibration as it has a filament pendulum, are stored. The subdivisions of dimensionally stable bearing surfaces 1 correspond to articulated body sections and save the joints above it. On devices or further developments according to the invention, a human body can be articulatedly supported without being bound in loops, for example. In particular, for seat-like body positions can contact surfaces 1 be formed of two or more partial surfaces, the z. B. by joints or hinges 4 are connected. Depending on the conceptual design or the duration of the placement, feet and hands can be left out. For optimal positioning body limbs can be briefly raised and the bearing surfaces are moved. To achieve the advantages of the arrangement according to the invention, the bearing surfaces should 1 be at least 5-fold articulated, z. B. for torso with head, as well as for arms and legs. A further division of the bearing surfaces allows correspondingly more joints a free mobility, which increases the range of applications or treatment. So z. B. head, shoulder, back, upper and lower arms, hands, pelvis, upper and lower legs and the feet, each individually store on freely movable support surfaces. The bearing surfaces 1 According to the invention consist of solid material and / or flexible-dimensionally stable material which deforms under force and strives to spring back to the initial shape or springs. So the bearing surfaces z. As plastic, wood, metal, hard rubber, foam, or consist of composites, and preferably ergonomically shaped and / or upholstered and / or be sprung. In particular, the support surface for the head can have a recess 6 have that with a molding 7 can be closed. Symmetrical prone position allows unimpeded breathing through the mouth and nose. Especially in physiotherapy is a fixation of limbs on the support surfaces z. B. helpful for an extension of joints. For this purpose, the bearing surfaces 1 advantageously fixing devices 8th have, which are placed over body limbs and these from above, preferably padded, pinch or fix elastically. For example, experiments have shown that a wide, elastic band only slightly stretched over a body portion and attached to the side of the support surface allows a large-area stable fixation.

Free-moving according to the invention support surfaces can hanging pendulum depending on the application, standing-swinging, or on electronically controlled robot arms, be stored. Especially with the latter inventive storage can the bearing surfaces be arranged so that also taken seat-like positions can be.

In embodiments with suspended storage according to claim 3, the bearing surfaces 1 at lateral attachment points 3 preferably with length-adjustable suspensions 9 such as As ropes, chains, flexible rods, or bands connected, in turn, to a higher-level fastening device 11 are fastened with preferably different and / or sliding attachment points, z. B. offers a fastening device with grid structure and / or electromechanically movable suspension eyelets, suspensions 9 with snap hook a variety of mounting positions. Less practical is a variety of ceiling hooks as a fastening device. Length elastic suspensions such. As rubber bands or coil springs and / or electromechanically overlying suspensions allow the bearing surfaces more degrees of freedom of movement.

It is advantageous the suspensions 9 with the bearing surfaces 1 and the upper attachment devices 11 easy to detach or connect to connect. For this purpose, the bearing surfaces at preferred attachment points 3 z. As eyelets or Velcro surfaces on which appropriate suspensions 1 with z. B. snap hooks or Velcro strips can be connected or loosened. This allows for different weight or therapy requirements by replacing suspensions 9 or changing the upper attachment points are met. By hanging the support surfaces at several points 3 An undesirable tilting, in particular the pelvic contact surfaces can be avoided. The attachment points 3 for the suspensions 9 at the bearing surfaces 1 are preferably to be arranged spaced from the respective body part. support surfaces 1 which do not project beyond the body contours, may preferably on the underside of supernatants 5 such as B. webs, where the suspensions 9 Are fixed from the body spaced.

As far as it allows a desired mobility, the bearing surfaces 1 with each other, for. B. be connected elastically by means of rubber bands. Preferably flexible connections 13 The support surfaces facilitate the assignment when hanging and limit the spacing of the support surfaces. In particular, in the physiotherapeutic use of the invention lying device can by changing the suspension points on the fastening device 11 slight pressure or tension on a joint. By fixing the body sections on corresponding bearing surfaces stronger extensions, z. B. allows with expanders or cables.

Passive or active joint movements oscillate slightly due to the free-floating suspension. The ringing can be done by preferably variable weights 15 be more pronounced modified. These can be flexibly or firmly connected or connected to the bearing surfaces. In embodiments according to claim 4 la like the bearing surfaces movable z. B. by means of ball joints 16 on support brackets 17 and / or weights 15 , which are attached to suspensions. As a result, in particular further rotational degrees of freedom with body-near rotation axes are made possible.

The preferably variable weights 15 can be solid or liquid z. As by steel weights, or by liquid or bulk fillable container 18 being represented. In particular, for relaxation purposes, a support surface positioning is advantageous, which corresponds to the desired reclining position. In the case of vertically suspended suspensions, the whole body experiences especially Foucault pendulum movements.

In order to use the support devices existing sling tables for the bearing surface arrangement according to the invention, the dimensionally stable bearing surfaces can be advantageously designed as accessories for sling tables. According to claim 5, the dimensionally stable bearing surfaces have 1 suspensions 9 on, which can be hooked for example by means of snap hooks in an existing sling table support device.

A Conception of dimensionally stable bearing surfaces without suspensions, for retrofitting or insertion in loops of existing sling tables, is a cheap but not a comfortable solution.

In standing storage according to claim 7, the bearing surfaces on flexible stands 19 attached, which in turn firmly on a floor construction 23 standing fixed. According to the invention, the stands 19 an elastic flexibility. For example, the stands may be made of spring steel bars, carbon fiber bars, or natural materials such as bamboo sticks. This gives the bearing surfaces degrees of freedom as they correspond to a filament pendulum. In order to allow the support surfaces further degrees of freedom, the stands 19 in addition to the flexibility have an elastic compression or extensibility of the length and completely or partially z. B. made of steel springs or solid rubber rods. It is advantageous the stand 19 additionally height adjustable to make such. B. to allow adaptation to a desired body position. A height-adjustable stand 20 For example, it may be formed of telescopically telescoping carbon fiber tubes which are to be fixed at a desired height. A different interpretation of the stand is to be preferred, for. B. should be a stand 19 be made more stable and less elastic for a pelvic support surface as z. B. one for a forearm bearing surface. Also, a support surface 1 be worn by several flexible stands. To be able to adjust the position of the stand different body sizes or different lying or sitting positions, the stand feet should be on a floor construction 23 preferably in different positions manually or motor to move and fix his. It is advantageous the bearing surfaces with the flexible stands 19 movable z. B. by means of ball joints 16 To connect, thereby moving axes of the bearing surfaces of the body part are approximated, and improves the ergonomic adjustment of the bearing surfaces.

A broad partially completely new application spectrum allows the specified under claim 8 and 9 embodiment of the invention. Here, the bearing surfaces on mechanical, limb arms or robot arms store 26 with preferably 3 joints which the desired trajectories of the bearing surfaces 1 Tracking in the three directions of movement.

• – Manuell mittels einem Bedienteil mit Joystick -vorteilhafter Weise mit Anzeige zur Kontrolle von z. B. Widerständen und Wirkrichtungen ausgestattet und/oder
• – durch elektronisch gespeicherte Bewegungsfolgen die speziellen Behandlungs- oder Therapieformen entsprechen und/oder
• – vorprogrammiert passend zu Musik od. Lichteinflüssen, und/oder
• – durch sensorisch 28 messbare Körperfunktionen wie z. B. Hautwiderstand, Atem- oder Pulsfrequenz. Interaktiv kann Einfluss auf die Bewegungen genommen und z. B. ein Biofeedback erzeuget werden und/oder
• – durch akustische oder optische Einflüsse wie z. B. Lichtspiele oder Musikrhythmen die sensorisch erfasst, und elektronisch in Bewegungsvorgaben transformiert werden.

The joints are in a manner known in the art z. B. electrically, hydraulically or pneumatically driven and robotically kinematically by a digital control unit 27 coordinated to steer. The desired movements of the bearing surfaces can be preset or entered in different ways. For example:

• - Manually by means of a control panel with joystick -advantageous way with display to control z. B. resistors and effective directions equipped and / or
• - By electronically stored sequences of movements correspond to the special treatment or therapy forms and / or
• - pre-programmed suitable for music or light influences, and / or
• - by sensory 28 measurable body functions such. B. skin resistance, respiratory or pulse rate. Interactive can influence the movements and z. As a biofeedback be generated and / or
• - By acoustic or optical influences such. As light plays or music rhythms sensory detected, and are transformed into electronic motion specifications.

In order to fulfill the described functions, the digital control unit operates 27 preferably technically self-optimizing z. B. with an expert program with fuzzy logic. Among other things sensor and actuator data as well as instabilities and positions of the robot arms are coordinate-transformed, constantly analyzed by the control unit, control engineering and other improvement measures are proposed, implemented and tested, movement-related resistance of the joints can be measured and corrected. Preferably, Au In the settling process, dio-analyzers mimic and automate the procedure of an experienced therapist, in which case a measured value is output only if it satisfies a specific tolerance that can be entered by the therapist.

The electromechanical arrangement allows z. As well as a simulation of wave pendulum or vibration movements and any movements of individual parts of the body. For the electronically controlled permanent extension by the physiotherapist are fixators 12 on the bearing surfaces 1 advantageous, - The attachment of expanders or cables is unnecessary and movement forces can be exactly predetermined and aligned. Due to the possibility of force measurements, the electromechanical mounting of the dimensionally stable bearing surfaces is suitable 1 , especially in a multiple articulated arrangement also excellent for ergonomic research.

A Combination of said embodiments can for special applications be advantageous, as well as an additional different storage of body elements.

In the drawing, the invention is illustrated in the specified variants, for example. For a better overview, exemplary embodiments are shown in FIG 3 - 5 Arms and legs shown once.

It demonstrate:

1 Minimal solution according to the invention with 5 bearing surfaces which are to be stored freely movable in the above sense. For the suspended-hanging, movable storage are projections 5 shown and possible attachment points 3 partially marked. Hinge or articulation 4 a multi-part bearing surface 1 especially for seat-like positions.

2 16-fold articulated bearing surface arrangement. For the present invention hanging storage are possible suspension points 3 partially marked.

3 Embodiment with hanging bearing bearing surfaces 1 according to claim 3. On a support frame 10 stores a fastening device 11 , With carabiners, the suspensions can 9 in the grid structure of the fastening device 11 and at an electromechanically movable attachment point 14 be hung. A variable weight 15 is movably connected to a leg support surface. The head-bearing surface mounted according to claim 4 by means of ball joint 16 and springs on a support bracket 17 attached to suspensions 9 is fixed and at the bottom of a variable weight 15 in the form of a water tank 18 is appropriate.

4 Embodiment with standing bearing bearing surfaces 1 according to claim 4. On a floor construction 23 stand flexible stands 19 in the form of steel springs, and carbon fiber tubes on which the bearing surfaces 1 directly, by means of ball joint 16 , by means of a particularly flexible section 22 , or by means of lockable joints 17 are attached. The pelvis / back support surface is in two parts with adjustable joint 16 fitted. The headrest surface is by means of telescopic, flexible stand 20 to fix in a desired height. The stands 19 are on a floor construction 23 firmly mounted, and manually move 25 , or to move motor 24 ,

5 Electromechanical reclining device formed from dimensionally stable bearing surfaces 1 on robot arms 26 which are stored by an electronic control unit 27 be controlled robotically kinematically. The movements of the bearing surfaces 1 affect the sensory measured heart rate. After specification of a desired heart rate are in the control unit 27 In constant comparison, favorable and unfavorable forms of movement are determined and permitted or excluded, whereby ideal movement formations settle over time.

1

dimensionally stable support surfaces

2

auflagernder body

3

possible attachment points with hanging storage

4

Hinge connection a multi-part bearing surface

5

supernatants

6

recess

7

molding

8th

fixing

9

suspensions

10

supporting frame

11

upper fastening device

12

fixing

13

flexible Connection of bearing surfaces

14

motor Movement device with attachment point

15

variable weights

16

ball joint

17

support bracket

18

water tank

19

flexible stand

20

height-adjustable flexible stand

21

ascertainable joints

22

especially flexible section

23

floor construction

24

motor movable stand feet

25

devices for manual Moving the stand

26

limbs or robotic arms

27

digital control unit

28

Body function sensor

Claims (9)

Therapeutic reclining device formed from at least 5 dimensionally stable body part support surfaces, which are structured according to human body sections and joint positions, and whose dimensions of the flat support of corresponding body sections meet, characterized in that they with the same and / or more kinematic degrees of freedom of translation, the Rotation and the vibration, as they can be assigned to a thread pendulum, are stored. Lying device, characterized according to claim 1, characterized that the bearing surfaces Fixing devices such. B. elastic bands which have a body part can be stretched. Lying device, according to claim 1 or 2, characterized in that the bearing surfaces 1 on fixed or elastic suspensions 9 attached, in turn, to an upper attachment device 11 are attached hanging. Lying device, according to claim 1 or 2, characterized in that the bearing surfaces 1 movable on carrying consoles 17 Store on solid or elastic suspensions 9 are fastened, which on an upper fastening device 11 hang. Lying device according to claim 1 or 2, characterized in that the bearing surfaces 1 suspensions 9 have, which can be hung in fastening devices of sling tables. Lying device, according to claim 3 to 5 characterized in that on or in the bearing surfaces 1 , and / or the support brackets 17 Weights are attached. Lying device according to claim 1 or 2, characterized in that the bearing surfaces 1 standing on flexible and / or length-adjustable stands 19 / 20 are stored, the fixed and / or changeable and / or movable in a floor construction 23 are fixed, or are to be fixed. Lying device, according to claim 1 or 2, characterized in that the bearing surfaces 1 on articulated robot arms 26 store by an electronic control unit 27 coordinates digitally controlled desired movement paths of the bearing surfaces 1 tracking the. Lying device, according to claim 7, characterized in that sensory detected body functions interactive influence on the digital motion control of the bearing surfaces 1 to take.