DE102011052835A1 - Modular training system for the rehabilitation of physiologically impaired patients - Google Patents

Abstract

The invention relates to a modular training system (1) for the rehabilitation of physiologically impaired patients (2), comprising a basic device (3), a first receiving means (6) for a body part to be trained, with at least one sensor (7) and / or at least one actuator ( 8), which is connected to the base unit (3) via defined interfaces (9, 9 ') and transmission links (10, 10') and communicates via defined data protocols, and at least one further recording device (6 ') with at least one sensor (7' ) and / or at least one actuator (8 '). It is essential that the additional recording means (6 ') can be connected to the base unit (3) either selectively or simultaneously via the same defined interfaces (9, 9') and transmission links (10, 10 ') as the first recording means (6) and the at least one sensor (7 ') and / or the at least one actuator (8') of the further recording means (6 ') can be queried or controlled using the same data protocols as the at least one sensor (7) and / or the at least one actuator (8) of the first receiving means (6). This creates a modular training system (1) which enables exercise programs for all different areas of the body in a universal and cost-effective manner and increases the cost-effectiveness of producing such training systems.

Description

The invention relates to a modular training system for the rehabilitation of physiologically impaired patients, in particular of patients with movement impairments of the extremities.

From the prior art exercise or training devices for physiotherapy therapy of patients with physiological impairments of the musculoskeletal system are known, the principle of which is to fix a body part of the patient to be trained in a fastener and to assist the patient in the implementation of training exercises. In a passive embodiment, the fastening means is used exclusively for stabilizing the body part to be trained or its joints, since its mobility may have unnatural values due to accident or illness. If the muscular or neurological abilities of the patient are also limited, forces are applied to the body part to be trained via actuators mounted on the fastening means, in order to achieve at least partial weight relief or a completely active movement execution. A control unit gives the corresponding commands to the actuators. In many cases, sensors are mounted on the fastening means or on the body of the patient in order to detect, for example, translatory and rotational movements, the forces that occur or various vital parameters of the patient. The control unit collects and analyzes the information from the sensors and regulates the actuators according to the specifications of the training exercise to be performed or monitors the physical condition of the patient.

In many cases, the known physiotherapy training devices are only suitable for one type of body part to be trained, such as an arm or a leg. And often such a training device is still limited even to a small group of impairments of a body part to be trained on. In order to perform the rehabilitation for other impairments or body parts to be trained, usually another, independent training device must be purchased. In addition to the high financial outlay, the operation of the training devices via the respective control unit in most cases works very differently, which is especially for the physiotherapist, but in part also for the patient of disadvantage.

From the DE 692 01 654 T2 is a multi-axis exercise device is known, with which the body part of the patient to be trained is actively moved, wherein the range of motion is limited to certain values. In this document, only a foot is referred to as a body part to be trained. Furthermore, in WO 2008/124025 A1 discloses a powered orthosis, which applies a force to the body part of the patient to be trained by the actuators attached to the joints in order to assist them in performing the movement. Also in this case, the body part to be trained is always referred to only one leg. In US 2006/0106326 A wrist or upper limb movement system is shown which either supports the movement of that body part, depending on the chosen exercise program, or resists those movements. In this case, the training system is restricted to a limb of the upper extremities.

The present invention is based on the object to provide a training system for the rehabilitation of physiologically impaired patients, which on the one hand in a universal and cost-effective way exercise or therapy programs for all different body areas of a patient allows and on the other hand, the cost of manufacturing such universal training systems elevated.

The object of the invention is achieved by a modular training system according to the features in claim 1.

According to the invention, a base unit of the modular training system is equipped with defined interfaces, so that optionally or simultaneously several receiving means for body parts to be trained can be connected to the base unit via defined transmission links and the sensors and / or actuators of the recording means can be interrogated in a uniform manner via defined data protocols. are controllable. Such a configuration makes it possible to realize an advantageous universal training system which provides different receiving means for the same or different body parts to be trained. The different in their shape and / or function recording means are controlled or queried in a uniform manner of one and the same base unit on the defined interfaces, transmission lines and data protocols. This modular structure of a training system makes it possible to tailor the specific embodiment of the training system specifically to the body part to be trained and the needs of the patient without resorting in each case of treatment to its own, on the selected training program and the intended recording means for the training Body part matched base unit to use. The various sensors or actuators of the different recording means, which measured values for determining the state of To provide patient or his body part to be trained or support which training movements of the patient by body stabilization, weight relief and / or movement execution, so can always be queried or controlled from the same base unit.

Therefore, both physiotherapists and patients need to familiarize themselves with the use of different recording means for exercising body parts only with a base unit and learn the necessary steps for them. This allows a very efficient way of determining and administering, improving and reusing the various training programs of his patients, in particular for the physiotherapist, whereby usually most diverse receiving means for body parts to be trained are used. Another advantage for a physiotherapist is that the modular training system can be extended relatively inexpensively with different receiving means for body parts to be trained, since only the special recording medium needs to be newly purchased and no longer needs to be newly purchased as a special base unit.

An advantage is an embodiment according to claim 2, as a universal, operable with a base unit modular training system is created, which can be used for the physiotherapeutic treatment of different parts of the body of patients. Such a versatile, modular training system, for example, is ideally suited for use in a physiotherapeutic rehabilitation center, as it allows patients with different physiological impairments of different body parts with only one base unit and different, each adapted to the patient receiving means for exercising body parts can be cared for.

Another advantage is also an embodiment according to claim 3, since the use of standard modules for the sensors and actuators of the recording means and the provision of corresponding, configurable software modules in conjunction with the clearly defined interfaces, transmission lines and data protocols, a rapid and economic production of highly specific Receiving means for different body parts to be trained or for various physiological impairments of patients is possible. For example, specialists in the field of prosthesis construction can easily integrate the standard modules for the sensors and actuators into the prostheses or receiving means for body parts to be trained, which with the provided, configurable software modules in a simple and uniform manner from the physiotherapeutic Training programs are queried or controlled. Overall, this configuration provides a high degree of reusability both for the hardware components developed and for the software modules, and thus for improved cost-effectiveness. Furthermore, this makes possible the inexpensive and rapid construction of comparatively rarely required special characteristics of receiving means or training devices even with only small quantities.

Another advantage is the measures according to claim 4, as this reduces the configuration effort of the modular training system, in particular for the physiotherapist, since the connection of another receiving means for a body part to be trained on the base unit at least an automatic partial configuration of the training system is performed or the configuration of new base unit-receiving means combination is facilitated by the automatic identification of the respective receiving means. Furthermore, an unambiguous identification of the receiving means used makes it possible to check or ensure that a patient uses the receiving means for which he is personally intended and possibly also individually adapted to him for the body part to be trained. This may be important, for example, in a rehabilitation center, where it can easily be confused by the large number of existing recording means.

Another advantage are the measures according to claim 5, as this relevant information on the use of the recording means can be stored locally in this in a storage means and, for example, in the service, warranty or incident are available and can be evaluated. This can be about the reliability, the reliability, the life or hygiene of the recording means can be improved.

Another advantage is an extension of the measures according to claim 5, in which a storage means in the base unit of the modular training system is provided in which the information about the respective connected recording means are individually stored and / or automatically about the Internet or a mobile network to the Manufacturer or distributor of the modular training system are transferable.

Another advantage is the measures according to claim 6, since by the formation of at least one bus system, the recording means with their sensors and / or actuators and / or the other data input and data output means in a simple manner in the training system both mechanically as well as logically integrated or removable from it. Bus systems are basically designed to connect multiple communication subscribers via interfaces and a common transmission path, with defined data protocols defining how the multiple communication subscribers communicate over a common transmission path. The use of real-time-capable bus systems offers particular advantages, as it also makes time-critical control and regulation processes possible in the modular training system. Equally advantageous is the use of safety-related bus systems, which ensures secure data transmission with the bus system and, for example, transmission errors in the transmitted information are avoided. Furthermore, this ensures a defined and safe behavior of the bus system and the components connected to it, even in the event of a fault or defect, so that no danger to people or property occurs.

Another advantage is the measures according to claim 7, since a simple, cost-effective and interference-proof design of the recording means and / or the data input and data output means is achieved and a simple and inexpensive way of supplying energy to these means is ensured. In particular, the overhead of the wiring is reduced and the clarity of the training system is increased by these measures, since the bus system combines both data and energy combined in a transmission line.

Also advantageous are the measures according to claim 8, since the cost of establishing a connection via a wireless transmission link, in particular with respect to the cabling effort, is reduced to an absolute minimum. Likewise, such a wireless configuration of the transmission path avoids cabling that interferes with the operation of the modular training system, in particular the use by a patient, and that causes interference in the long term. In addition, it is easy to add or remove communication subscribers for wireless connections.

Advantages are also the measures according to claim 9, as a safe operation of the modular training system is ensured. In particular, by using cryptographic methods, it can be achieved that third parties can neither access nor modify the data transmitted in the modular training system, nor can they inject self-generated data. These methods also prevent unauthorized third parties from integrating recording media in the training system, for example, which do not conform to the corresponding safety standards or are not manufactured, procured or operated in accordance with agreed license usage models.

Also advantageous are the measures according to claim 10, since a mobile detection means is available with which in a simple manner, the position and / or orientation of the body part to be trained, in particular the patient's hand, or the receiving means for the exercising body part can be determined. It has been shown that in some patients to be treated physiologically no actuator in the receiving means for the body part to be trained is necessary because the patient can perform the training movements to be carried out independently. In such a case, however, it is still desirable to determine the position and / or orientation of the body part to be trained in the simplest and most efficient way and at the same time to impair the patient as little as possible. This is made possible by a detection means according to claim 10, in particular when it is wirelessly connected to the base unit.

Another advantage is an embodiment according to claim 11, as an additional channel for information transmission between modular training system and a patient is created. An information or statement output by haptic way represents a particularly intuitive form of information transmission, since, in particular, when using several such vibration or pressure means at different points of the receiving means, for example, a direct guidance of the patient in the correction of poorly executed movements is possible. The patient senses at which point and in which direction he should correct the exercise movement. Also, the direct haptic transmission of the information to the user of the detection means only slightly reduces its concentration on the correct performance of the training exercise.

The measures according to claim 12 are also advantageous, since this provides a uniform, modular system for the different types of receiving means for body parts to be trained, with which the orientation and / or movement of a body part to be trained can be determined by measuring the passive marking means a video camera is determined. A precise analysis of the orientation and / or movement of the body part to be trained is thus possible with the help of the passive marking means regardless of the specific embodiment of the receiving means for the body part to be trained and its sensors. Furthermore, it is possible with the help of the passive marking means in a simple way, the To calibrate sensors and actuators of a receiving means in the installed state by optically measuring the passive marking means attached to the receiving means and using these measured values to calibrate the sensors and actuators.

Another advantage is an embodiment according to claim 13, as can be formed by the use of so-called air muscles as actuators in a receiving means for a body part to be trained particularly advantageous receiving means. Compared to the usual electromechanical or electromagnetic actuators, air muscles provide a much more elastic force transmission to the body part to be trained. On the one hand, this reduces the risk of injury to the patient and, on the other hand, it enables the patient to withstand the movement requirements of the receiving means, at least in part, by moderately applying his own force. For example, the patient can follow a path of movement that is more advantageous with regard to an occurring pain stimulus with the body part to be trained. Basically, the elasticity of the air muscle actuators allows the proportion of integrated safety technology to protect the patient from physical injuries, in particular from injuries to the body part to be trained.

Furthermore, the flexible deformability of the pneumatic muscles enables a completely new way of constructing receiving means for body parts to be trained, which, because of the flexibility of the pneumatic muscles, can also be easier to put on or removed from the body part to be trained. Likewise, the gentle form of receiving means for body parts to be exercised, which can be achieved with flexible air muscles, promotes the acceptance of the patient to carry out the intended physiotherapeutic training programs correspondingly often with the receiving means. Another advantage of receiving means with air muscle actuators is the fast and flexible adaptability of the receiving means to the patient and his body parts to be trained.

Also of advantage are the measures according to claim 14, since with the articulated arm of a joint robot very versatile movements and thus very versatile training movements are feasible. Furthermore, articulated robots represent a very sophisticated technology, which modular based training systems based thereon can be produced very economically. Due to the frequent use of articulated robots in safety-critical environments, such as in the vicinity of persons, such robots have comprehensive safety devices that are used to protect patients from injuries. Furthermore, a quick coupling means between the freely movable end of the articulated arm of the articulated robot and the corresponding part of the receiving means for the body part to be trained allows a quick and easy preparation or solution of the connection between articulated robot and receiving means. A further advantage is the easier application of the receiving means to the respective parts of the body of the patient before it is connected to the articulated robot, as this better mobility and accessibility of the receiving means is achieved during docking. A very special benefit is created by the measures according to the claim in the clinic, since in this case a corresponding receiving means can already be created or adapted for a further patient, while a first patient is still completing his training program. After the first patient has completed his training program, thanks to the quick coupling means, the additional patient can be connected to the articulated robot in a very short time and start his training program. This allows a continuously high utilization and cost-effectiveness of the modular training system.

Also advantageous are the measures according to claim 15, as can be realized by the use of multiple articulated robots very complex stabilization, weight relief and movement processes with the receiving means for a body part to be trained.

Also of advantage are the measures according to claim 16, since by the use of cables very flexible and special receiving means for patients and their body parts to be trained can be realized. For example, actuators mounted above or next to the patient can be flexibly connected via cables to the receiving means for the body part to be trained in order to carry out a weight relief or movement support of the body part to be trained. Similarly, with actuators connected via cables can realize a controlled, resilient suspension for the patient, with which about the body weight of the patient is more or less elastically intercepted or a verticalization of the body of the patient is performed to perform, for example, a weight-relieved Gait therapy. Here, the weight relief of impaired joints such as the knee joint is of particular advantage. On the one hand, the color-coded quick-release couplings allow rapid connection and disconnection of the cables and the receiving means for the body part to be trained; on the other hand, the color coding of the quick-release couplings avoids confusion in connection production.

Also advantageous are the measures according to claim 17, since a comprehensive monitoring or analysis of the condition or behavior of a patient during the completion of the training program is made possible by the large number of possible sensors. The measured values recorded by the sensors include, in addition to position and movement information, in particular also various vital parameters of the patient, such as pulse rate, blood pressure or body temperature. Furthermore, detection devices or sensors for recording visual or audible information enable comprehensive analysis options with regard to the condition of the patient. Strain gauges can be used in a simple manner to measure forces applied by the patient on the receiving means for the body part to be trained.

Finally, the measures according to claim 18 are advantageous because it allows the recording and monitoring of movement activities of a patient away from the actual training units and largely independent of the base unit. Thus, an extended and comprehensive analysis of the effects of the training on the physiological condition of the patient can be performed to allow the most efficient adaptation of the training program or the training period to the training progress.

In each case, in a highly simplified, schematic representation:

1 an embodiment of a modular training system consisting of a base unit and two receiving means for body parts to be trained upper or lower extremities;

2 an exemplary receiving means with air muscle actuators for training a knee joint;

3 an exemplary receiving means for training an arm which is moved by means of a plurality of articulated robots;

4 an exemplary receiving means for training the lower extremities, which is connected via cables with the actuators.

By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, wherein the disclosures contained in the entire description can be mutatis mutandis to the same parts with the same reference numerals or component names. Also, the location selected in the description, such as. B. top, bottom, side, etc. related to the immediately described and illustrated figure and these position information in a change in position mutatis mutandis to transfer to the new location. Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions.

In 1 is an embodiment of a modular training system 1 for the rehabilitation of physiologically impaired patients 2 , especially of patients 2 with movement impairments of the extremities, illustrated schematically.

According to the illustrated embodiment, the base unit 3 a major element of the modular training system 1 dar. The base unit 3 is with a data processing means 4 equipped with the various modules of the modular training system 1 be controlled or coordinated. The necessary information is stored in a data storage medium 5 filed or are retrieved from there. To display or display information in the base unit 3 optionally a data output means, in particular a screen 33 , be integrated with what information for example for the patient 2 can be issued. Furthermore, the basic device shown by way of example is 3 with a stand 34 equipped, on its underside rolling body 35 so that the base unit 3 can be moved in a simple way.

Another main element of the modular training system 1 represents a recording medium 6 for a body part of the patient to be trained 2 dar. The recording medium shown in the embodiment 6 supports a patient 2 in the implementation of physiotherapy training programs for the rehabilitation of his left arm and his left shoulder. To monitor the exercise movement with the left arm and to determine the condition of the patient 2 is in or on the recording medium 6 at least one sensor for the body part to be trained 7 appropriate. The mechanical structure of the receiving means 6 is formed according to the mobility of the body part to be trained and consists essentially of stable sub-elements, which are connected to joints or movable sub-elements. As such serves the receiving means 6 for stabilizing the body part to be trained during the completion of a training exercise. In many cases, the receiving means 6 also with at least one actor 8th equipped, with which forces on certain sub-elements of the receiving means 6 can be exercised. This is a weight relief or also active movement of the body part to be trained possible. To injuries of the patient 2 while performing training exercises with the recording means 6 to prevent, is the at least one actor 8th equipped with appropriate safety devices or communicates with such safety devices in connection. To the patient 2 hazardous movements, deflections or transmissions of the receiving means 6 The measurement data from at least one sensor are also to be avoided 7 used.

To control the modular training system 1 To be able to perform and thus the necessary measurement data are available, at least the sensor 7 and the actor 8th via an interface 9 and in this case a wired transmission link 10 with the base unit 3 connected via defined data protocols measured values from the sensor 7 retrieved and control commands to the actuator 8th can be transmitted. The processing of the measured values and the generation of the control commands are performed by the data processing means 4 made, which thereby information in the data storage means 5 deposits or retrieves from there.

Furthermore, another, in its shape and / or function to the first receiving means 6 different receiving means 6 ' for a body part to be trained, a major element of the modular training system 1 dar. The other recording means 6 ' , which in contrast to the first receiving means 6 the performance of a physiotherapeutic training of the lower extremities of a patient 2 supported, is similar to the first recording medium 6 with at least one sensor 7 ' and at least one actor 8th' equipped on the one hand to determine measured values and on the other hand forces on the receiving means 6 ' to be able to raise. It is essential that the first recording means 6 and that at least one other recording means 6 ' via the same defined interface 9 and the same transmission link 10 optionally or simultaneously with the base unit 3 is connectable and that the sensors 7 . 7 ' and the actors 8th . 8th' the two receiving means 6 . 6 ' can be queried or controlled via the same data protocols. This will be a physiotherapist 13 a universal modular training system 1 provided with it for different patients 2 with different body parts to be trained an optimally adapted training system 1 , consisting of a base unit 3 and at least one of the receiving means 6 . 6 ' for the body part to be trained, can flexibly put together and determine the appropriate training program. In particular, the profitability for the physiotherapist 13 increased, since no longer to each recording medium 6 . 6 ' a separate or own base unit 3 must be acquired. Furthermore, the use of a basic device 3 for several recording media 6 . 6 ' a unified user interface for this recording means for both the physiotherapist 13 as well as for the patient 2 ,

It is useful if for the sensors 7 . 7 ' and actuators 8th . 8th' the recording medium 6 . 6 ' Standard modules from different categories and performance classes are usable. Sensors from different categories take different measures of the recording medium 6 . 6 ' or the patient 2 or its body part to be trained on, for example, the position, orientation or acceleration of the body part to be trained or the muscle tension, oxygen saturation in the blood or skin temperature of the patient, and pass these measures to the base unit 3 over the defined transmission path 10 and the interface 9 with the help of the defined data protocols. sensors 7 . 7 ' different performance classes differ in their accuracy or in their data acquisition speed. actuators 8th . 8th' different categories differ in their possible types of movement, such as the possibility of performing translatory and / or rotational movements, in the number of possible degrees of freedom of movement and in the type of drive system that converts electrical energy into kinetic energy. actuators 8th . 8th' Different performance classes differ in the accuracy with which they respond to control commands and in the maximum possible force they can muster. For the manufacturer of a modular training system 1 is the availability of such standard modules for sensors 7 . 7 ' and actuators 8th . 8th' of great advantage, since thus the profitability of the production of different receiving means 6 . 6 ' is increased for different body parts to be trained.

Furthermore, it is useful if for every standard module of a sensor 7 . 7 ' and actors 8th . 8th' a corresponding configurable software module can be used, since on the one hand in a simple manner, the standard modules from the manufacturer of the modular training system 1 Programmtechnisch be integrated into the system and on the other hand, these standard modules in a simple and uniform manner by the physiotherapist 13 can be used in the software-controlled training program.

According to an advantageous embodiment, the receiving means 6 . 6 ' for the body parts to be trained with electronically readable identifiers 14 . 14 ' fitted. These identifiers 14 . 14 ' are over a transmission link 10 and an interface 9 with the base unit 3 connected, which contains the information of these identifiers 14 . 14 ' read out by electronic means and thus about the nature, structure and / or configuration of the respective recording means 6 . 6 ' automatically determined. With this information can now about the base unit 3 be at least partially automatically configured and / or the basic structure of the physiotherapeutic training program according to the nature of the receiving means 6 . 6 ' be partially automatically set, which exercise program subsequently by a physiotherapist 13 only need to be configured with respect to the last detail settings and / or this training program only with respect to its suitability for the patient 2 must be controlled.

It is also expedient if the receiving means 6 . 6 ' for the body parts to be trained with electronically recordable storage means 15 . 15 ' are equipped. This storage means 15 . 15 ' are over the transmission link 10 and the interface 9 with the base unit 3 connected and in them are information about the respective recording medium 6 . 6 ' individually stored, for example, information about the time and duration of use and information on error conditions occurred the receiving means 6 . 6 ' which information is of particular interest to a maintenance or troubleshooting engineer. The information can be from the sensors 7 . 7 ' or the actors 8th . 8th' the recording means 6 . 6 ' or from the base unit 3 electronically on the storage media 15 . 15 ' be stored.

In an embodiment not shown, the identifiers 14 . 14 ' and / or the storage means 15 . 15 ' in the sensors 7 . 7 ' and / or the actors 8th . 8th' integrated and over their part of the defined transmission path 10 and over the interface 9 readable or writable.

According to a particularly advantageous embodiment forms the defined interface 9 , the transmission link 10 and the data protocol used thereon, a bus system, in particular a real-time capable and / or safety-oriented bus system. This basically ensures that one or more sensors 7 . 7 ' , Actors 8th . 8th' and / or other data input and output means in a simple manner in the modular training system 1 mechanically and logically integrated or removable from it. The advantage of a real-time capable bus system is that data can be transferred very quickly and without appreciable delay between the communicating elements while guaranteeing adherence to specified time limits. Furthermore, the use of a safety-related bus system has the advantage that the system reacts in the event of transmission errors or defects in a defined manner that is secure for the user and for any material assets.

It is particularly useful that of the defined interface 9 , the transmission route 10 and the data protocol formed bus system also with an electrical transmission means 12 for supplying energy to at least a part of the sensors 7 . 7 ' , Actors 8th . 8th' and / or the further data input and output means.

It is also useful in the base unit 3 a cryptographic data processing means 16 provide that over the defined interface 9 , the transmission link 10 and secure the data protocol transmitted data with symmetric and / or asymmetric cryptographic methods to ensure their confidentiality, their integrity and / or their authenticity.

According to a particularly advantageous embodiment, the modular training system comprises 1 a hand-held, independent recording tool 18 and / or one by means of a male or female coupling means 17 at a receiving means 6 for a body part to be trained attachable detection means 18 ' , The of the respective sensors in the detection means 18 . 18 ' determined positions and / or orientations of the detection means 18 . 18 ' be over the wireless links 10 ' . 10 '' and the interface 9 ' to the base unit 3 transmitted. It is particularly useful furthermore, the detection means 18 . 18 ' with a vibrating or pressure medium, which information to the patient 2 convey in a haptic way. This makes it possible, for example, in particular by attaching a plurality of vibration or pressure means at different points of the receiving means 6 the patient 2 to impart stimuli to those parts of the body, such as a therapist 13 would assist in correcting movement sequences.

According to an advantageous embodiment is to be trained body part of the patient 2 at least one passive marker 19 attached and as another data input means one of the electrical transmission means 12 powered video camera 11 over the interface 9 and the transmission path 10 to the base unit 3 connected. Now move the patient 2 the body part to be trained, then becomes the passive marker 19 moved and this movement can by the data processing device 4 in the base unit 3 over the image of the video camera 11 be recorded. Likewise, so can the position of the body part of the patient to be trained 2 be determined.

According to an advantageous embodiment, a sensor 31 for motion monitoring on the body of the patient 2 by means of the receiving means 32 attached. With this sensor 31 . which is also equipped with a data logging device, can monitor the activity of the patient 2 away from the actual training sessions and regardless of the recording medium 6 for the body part to be trained and the base unit 3 be monitored or recorded. At the next regular training session in conjunction with the base unit 3 be the ones from the sensor 31 determined and recorded data to the base unit 3 transmitted, analyzed and form the basis for a comprehensive determination of the physiological state of the patient 2 or serve this data for situation-appropriate adaptation of the training program. Typical embodiments for the sensor 31 are a pedometer that is located in the lower limb area of the patient 2 attached or an acceleration sensor, which is also in the region of the upper extremities, such as the wrist, with the receiving means 32 can be attached.

2 shows a particularly convenient receiving means 6 ' for a knee joint to be trained, which two air muscles 20 . 20 ' having, which are formed of tubular, flexible material and contract by introducing air. The two mutually movable parts of the receiving means 6 ' are about a joint 21 connected and these parts are each with the ends 22 . 22 ' respectively. 23 . 23 ' the air muscles 20 . 20 ' in connection. Will now the air muscle 20 contracted by air supply, so practice the two ends 22 . 23 of the atrial muscle 20 a force on the two mutually movable parts of the receiving means 6 ' out and the joint 21 and thus the knee joint of the patient 2 gets stretched. In contrast, the air muscle 20 ' contracted by air supply, so practice the ends 22 ' . 23 ' a tensile force on the parts of the receiving means 6 ' out, so the joint 21 and thus the knee joint of the patient 2 is bent. Be both air muscles 20 . 20 ' evenly contracted by air supply, so does the joint 21 and thus the knee joint of the patient 2 stabilized or fixed in its current position.

In 3 is an embodiment of a receiving means 6 shown for exercising an upper extremity. The recording medium 6 consists of the mutually movable components shoulder part 36 , Upper arm part 37 and forearm part 38 , The upper arm part 37 is via a quick coupling means 24 with the freely movable end 25 of the articulated arm 26 a joint robot 27 connected. Likewise, the forearm part 38 the receiving means 6 via a quick coupling device 24 ' with the freely movable end 25 ' of the articulated arm 26 ' an articulated robot 27 ' connected. By appropriate control of the articulated arms 26 . 26 ' become the upper arm part 37 and the forearm part 38 the receiving means 6 emotional. To prevent injuries, the quick release means 24 . 24 ' optionally equipped with predetermined breaking points and / or self-opening connecting means, which at a certain force occurring the connection between upper arm part 37 and articulated arm 26 on the one hand and between the forearm part 38 and the articulated arm 26 ' on the other hand separate. The quick coupling means 24 . 24 ' are also structurally combined with joints with different degrees of freedom, so on the quick coupling means 24 . 24 ' For example, only forces, but no torques (ball joint) or only torques along certain axes (hinge joint, double hinge joint or universal joint) are transmitted. In addition to a mechanical coupling can by the quick coupling means 24 . 24 ' At the same time, an electrical coupling can also be produced, for example for easy access to a sensor system integrated in the receiving means.

Depending on the type or structure of the receiving means 6 . 6 ' For the body part to be trained and the type of training exercise, more or fewer articulated robots can also be used 27 . 27 ' be used.

4 shows as an embodiment of a receiving means 6 ' for training a lower extremity a receiving means 6 ' that has color-coded quick couplings 30 . 30 ' . 30 '' . 30 ''' and over cables 29 . 29 ' . 29 '' . 29 ''' with the above the receiving means 6 ' attached actuators 28 . 28 ' . 28 '' . 28 ''' connected is. Through the color coding of the quick couplings 30 . 30 ' . 30 '' . 30 ''' is ensured that the cables 29 . 29 ' . 29 '' . 29 ''' properly with the recording medium 6 ' are connected for the body part to be trained. By using the cables 29 . 29 ' . 29 '' . 29 ''' Can very special support or movement tasks in connection with the recording medium 6 ' will be realized. For example, it is possible to have a patient 2 by pulling in the cables 29 ' . 29 '' by means of the actuators 28 ' . 28 '' upright or assist in erecting and by alternately pulling in and out of the cables 29 . 29 ''' by means of the actuators 28 . 28 ''' the patient 2 assisting with a walking motion or this movement for the patient 2 perform.

In an embodiment, not shown, the patient 2 with the in 4 shown receiving means 6 ' perform a controlled up and down movement of his body by the cables 29 . 29 ' . 29 '' . 29 ''' in a synchronous manner from the actors 28 . 28 ' . 28 '' . 28 ''' be collected or issued. The up and down movement is controlled by applying force to pressure plates or handles or detecting means 18 . 18 ' - 1 - is moved up and down accordingly.

The embodiments show possible embodiments of the modular training system, it being noted at this point that the Invention is not limited to the specifically illustrated embodiments of the same, but also various combinations of the individual embodiments are mutually possible and this possibility of variation due to the doctrine of technical action by objective invention in the skill of those active in this technical field. So are all conceivable embodiments, which are possible by combinations of individual details of the illustrated and described embodiment variant, includes the scope of protection.

For the sake of order, it should finally be pointed out that in order to better understand the structure of the modular training system, this or its components have been shown partly out of scale and / or enlarged and / or reduced in size.

The task underlying the independent inventive solutions can be taken from the description.

Above all, the individual in the 1 ; 2 ; 3 . 4 shown embodiments form the subject of independent solutions according to the invention. The relevant objects and solutions according to the invention can be found in the detailed descriptions of these figures.

LIST OF REFERENCE NUMBERS

1

training system

2

patient

3

basic unit

4

Data processing means

5

Data storage means

6, 6 '

receiving means

7, 7 '

sensor

8, 8 '

actuator

9, 9 '

interface

10, 10 ', 10' '

transmission path

11

video camera

12

Electrical transmission means

13

Physiotherapist

14, 14 '

ID

15, 15 '

storage means

16

Cryptographic data processing means

17

coupling agent

18, 18 '

detection means

19

marker

20, 20 '

air muscle

21

joint

22, 22 '

Air muscle end

23, 23 '

Air muscular end

24, 24 '

Quick coupling means

25, 25 '

Knickarmende

26, 26 '

articulated

27, 27 '

articulated robot

28, 28 ', 28' ', 28' ''

actuator

29, 29 ', 29' ', 29' ''

cable

30, 30 ', 30' ', 30' ''

Color coded quick coupling

31

sensor

32

receiving means

33

screen

34

stand

35

roll body

36

shoulder part

37

upper arm part

38

forearm part

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 69201654 T2 [0004]
• WO 2008/124025 A1 [0004]
• US 2006/0106326 [0004]

Claims (18)

Modular training system ( 1 ) for the rehabilitation of physiologically impaired patients ( 2 ), especially of patients ( 2 ) with movement impairments of the limbs, comprising - a base unit ( 3 ) with data processing means ( 4 ) and storage ( 5 ); A first receiving means ( 6 ) for a body part to be trained with at least one sensor ( 7 ) and / or at least one actuator ( 8th ), which with the base unit ( 3 ) via defined interfaces ( 9 . 9 ' ) and transmission links ( 10 . 10 ' ) and via defined data protocols with the base unit ( 3 ), so that in particular measured values from the sensors ( 7 ) and control commands to the actuators ( 8th ) are transferable; - others with the base unit ( 3 ) via the defined interfaces ( 9 . 9 ' ), Transmission links ( 10 . 10 ' ) and data protocols connected data input and output means so that the training system ( 1 ) of therapists ( 13 ) and patients ( 2 ) is interactively operable, characterized in that - at least one further, in its shape and / or function to the first receiving means ( 6 ) different receiving means ( 6 ' ) for a body part to be trained with at least one sensor ( 7 ' ) and / or at least one actuator ( 8th' ), which - with the base unit ( 3 ) optionally or simultaneously via the same defined interfaces ( 9 . 9 ' ) and transmission links ( 10 . 10 ' ) is connectable like the first receiving means ( 6 ) - and the at least one sensor ( 7 ' ) and / or the at least one actuator ( 8th' ) of the other receiving means ( 6 ' ) can be queried or controlled via the same data protocols as the at least one sensor ( 7 ) and / or the at least one actuator ( 8th ) of the first receiving means ( 6 ). Modular training system according to claim 1, characterized in that the first receiving means ( 6 ) is designed for a first body part to be trained, in particular an upper extremity, and that at least one further receiving means ( 6 ' ) is designed for another, different from the first body part to be trained body part, in particular a lower extremity. Modular training system according to claim 1 or 2, characterized in that for the sensors ( 7 . 7 ' ) and actuators ( 8th . 8th' ) of the receiving means ( 6 . 6 ' ) Standard modules from different categories and performance classes can be used and for each standard module a corresponding, configurable software module can be used so that the sensors ( 7 . 7 ' ) and actuators ( 8th . 8th' ) in a simple manner both mechanically in the receiving means ( 6 . 6 ' ) as well as programmatically in a software-controlled physiotherapeutic training program can be integrated. Modular training system according to one of the preceding claims, characterized in that the receiving means ( 6 . 6 ' ) with electronically readable identifiers ( 14 . 14 ' ), so that the type, the structure and / or the configuration of the respective receiving means ( 6 . 6 ' ) can be determined automatically and at least partially automatic configuration of the base unit ( 3 ) is feasible. Modular training system according to one of the preceding claims, characterized in that the receiving means ( 6 . 6 ' ) with electronically writable storage means ( 15 . 15 ' ) in which information about the respective receiving means ( 6 . 6 ' ), in particular information on the time and duration of use, for maintenance and error conditions that occur, are individually storable. Modular training system according to one of the preceding claims, characterized in that at least a part of the defined interfaces ( 9 . 9 ' ), Transmission links ( 10 . 10 ' ) and data protocols at least one bus system, in particular a real-time bus system such as SERCOS III or EtherCAT or at least one safety-oriented bus system such as Ethernet POWERLINK Safety or AS-Interface Safety at Work, so that one or more sensors ( 7 . 7 ' ), Actuators ( 8th . 8th' ) and / or further data input and output means in a simple and secure manner in the modular training system ( 1 ) are mechanically and logically integrated or removable therefrom. Modular training system according to claim 6, characterized in that at least one of the interfaces ( 9 . 9 ' ), Transmission links ( 10 . 10 ' ) and data protocols formed bus systems with an electrical transmission means ( 12 ) for supplying energy to at least a part of the sensors ( 7 . 7 ' ), Actuators ( 8th . 8th' ) and / or the further data input and output means. Modular training system according to one of the preceding claims, characterized in that at least one of the defined transmission links ( 10 . 10 ' . 10 '' ) is designed as a wireless connection, in particular as a wireless connection by means of WLAN technology according to the standard IEEE 802.11 or by means of WPAN technologies according to the standard IEEE 802.15, such as Bluetooth or ZigBee. Modular training system according to one of the preceding claims, characterized in that cryptographic data processing means ( 16 ), so that with symmetrical and / or asymmetric cryptographic methods, in particular with encryptions, checksum calculations, hash functions or signatures, the confidentiality, the integrity and / or the authenticity of the interfaces ( 9 . 9 ' ), Transmission links ( 10 . 10 ' ) and data logs are securable. Modular training system according to one of the preceding claims, characterized in that at least one manually leading, stand-alone or by means of a plug or coupling means ( 17 ) on a receiving means ( 6 ) for a body part to be trained attachable detection means ( 18 . 18 ' ), which is provided with a sensor system for determining the position and / or the orientation of the detection means ( 18 . 18 ' ), so that via a particular wireless transmission link ( 10 ' . 10 '' ) the position and / or orientation of the detection means ( 18 . 18 ' ) to a base unit ( 3 ) is transferable. Modular training system according to claim 10, characterized in that the at least one by hand or on a receiving means ( 6 ) attachable detection means ( 18 . 18 ' ) is equipped with at least one vibration and / or pressure means, so that from the base unit ( 3 ) to the detection means ( 18 . 18 ' ) via a particular wireless transmission link ( 10 ' . 10 '' ) transmitted haptic information to a user of the detection means ( 18 . 18 ' ), for example to a patient ( 2 ), are dispensable. Modular training system according to one of the preceding claims, characterized in that on the body part to be trained or on the receiving means ( 6 ) for the body part to be trained at least one passive marking agent ( 19 ) and the base unit ( 3 ) with a video camera ( 11 ) and the data processing device ( 4 ) in the base unit ( 3 ) is designed such that movements and / or orientations of the body part to be trained based on the analysis of the position of the at least one passive marking means ( 19 ) are detectable. Modular training system according to one of the preceding claims, characterized in that on or in at least one of the receiving means ( 6 . 6 ' ) at least one muscle-like actuator ( 20 . 20 ' ) is formed of tubular, flexible material which contracts by introducing air, and that two mutually movable, in particular via a joint ( 21 ), parts of the receiving means ( 6 ' ) each with one end ( 22 . 22 ' . 23 . 23 ' ) of the muscle-like actuator ( 20 . 20 ' ) so that the receiving means ( 6 ' ) is movable by means of air supply. Modular training system according to one of the preceding claims, characterized in that at least one movable part of a receiving means ( 6 ) or the entire recording medium ( 6 ) of a body part to be trained via a quick coupling means ( 24 ) with the freely movable end ( 25 ) of the articulated arm ( 26 ) of an articulated robot ( 27 ) is connectable, so that by means of appropriate control of the articulated arm ( 26 ) the movements of the receiving means ( 6 ) to be trained body part are partially supported or actively carried out. Modular training system according to claim 14, characterized in that the articulated arms ( 26 . 26 ' ) several joint robots ( 27 . 27 ' ) at the free ends ( 25 . 25 ' ) via quick couplings ( 24 . 24 ' ) with mutually movable parts of a receiving means ( 6 ) are connectable, so that by means of appropriate control of the articulated arms ( 26 . 26 ' ) the movements of the receiving means ( 6 ) to be trained body part are partially supported or actively carried out. Modular training system according to one of the preceding claims, characterized in that the at least one actuator ( 28 . 28 ' . 28 '' . 28 ''' ) with a cable ( 29 . 29 ' . 29 '' . 29 ''' ) and the cable ( 29 . 29 ' . 29 '' . 29 ''' ) by means of a mix-proof, color-coded quick coupling ( 30 . 30 ' . 30 '' . 30 ''' ) with the receiving means ( 6 ' ), so that connections between actuators ( 28 . 28 ' . 28 '' . 28 ''' ) and recording means ( 6 ' ) are flexible, safe and easy to manufacture and solvable. Modular training system according to one of the preceding claims, characterized in that at least one sensor ( 7 . 7 ' ) on or in a receiving means ( 6 . 6 ' ) and for training monitoring to a base unit ( 3 ) via defined interfaces ( 9 . 9 ' ), Transmission links ( 10 . 10 ' ) and data protocols measured values for one of the following measured quantities of the recording medium ( 6 . 6 ' ) or the patient ( 2 or its body part to be trained: position, position or orientation, speed, acceleration, pressure, force or muscle tension, pulse rate, blood pressure, blood oxygen saturation, skin resistance, skin temperature, body temperature or respiratory rate or at least one sensor ( 7 . 7 ' ) on or in a receiving means ( 6 . 6 ' ) is provided, which is equipped with a visual detection device, an acoustic detection device or with a strain gauge. Modular training system according to claim 17, characterized in that at least one sensor ( 31 ), in particular a sensor ( 31 ) for motion monitoring, with a recording means ( 32 ) on the body or on the body part of the patient to be trained ( 2 ) is located away from the actual training units and is equipped with a data recording device so that activity monitoring and recording of the patient ( 2 ) independent of the base unit ( 3 ), the recorded activity data being sent to the base unit later ( 3 ) and thus the training effects on the physiological condition of the patient ( 2 ) are comprehensively detectable and the training program or the training workload can be adapted to the values thus determined.

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