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SI23421A - Naprava za ugotavljanje in prikazovanje razlike vektorjev sil, ki ju izvaja par rok ali nog - Google Patents

Naprava za ugotavljanje in prikazovanje razlike vektorjev sil, ki ju izvaja par rok ali nog Download PDF

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Publication number
SI23421A
SI23421A SI201000204A SI201000204A SI23421A SI 23421 A SI23421 A SI 23421A SI 201000204 A SI201000204 A SI 201000204A SI 201000204 A SI201000204 A SI 201000204A SI 23421 A SI23421 A SI 23421A
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SI
Slovenia
Prior art keywords
exercise
pair
computer
microcontroller
limbs
Prior art date
Application number
SI201000204A
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English (en)
Inventor
Mihelj Matjaž
Munih Marko
Trlep Matic
Original Assignee
Univerza V Ljubljani
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Filing date
Publication date
Application filed by Univerza V Ljubljani filed Critical Univerza V Ljubljani
Priority to SI201000204A priority Critical patent/SI23421A/sl
Priority to JP2013518345A priority patent/JP2013535234A/ja
Priority to EP11755458.4A priority patent/EP2590568B1/en
Priority to US13/808,494 priority patent/US20130209979A1/en
Priority to PCT/SI2011/000037 priority patent/WO2012005702A1/en
Priority to CN201180038407.8A priority patent/CN103153189B/zh
Publication of SI23421A publication Critical patent/SI23421A/sl

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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B5/00—Electrically-operated educational appliances
    • G09B5/02—Electrically-operated educational appliances with visual presentation of the material to be studied, e.g. using film strip
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    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B5/221—Ergometry, e.g. by using bicycle type apparatus
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    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
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    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
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    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
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    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A61H2201/5007—Control means thereof computer controlled
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Abstract

Naprava za ugotavljanje in prikazovanje razlike vektorjev sil, ki ju izvaja par rok ali nog vadečih oseb, npr. pacientov s hemiparezo, tj. mišično obolevnostjo na polovici telesa, ali pa športnikov je izvedena iz ohišja (1), iz katerega izhajata prednostno dve sredstvi (2) za sodelovanje s parom udov - rok ali nog, pri čemer sta sredstvi (2) oblikovani na različne načine z namenom, da omogočata pravilno sodelovanje s tretiranim parom udov pri posamezni obliki vaje, ter sta nameščeni v ležajih (3) znotrajohišja (1), nadalje iz mikrokrmilnika (8) in po potrebi računalnika (13), interneta (14) za povezavo do strokovnega središča (15). Vsako sredstvo (2) je povezano s sredstvom (4) za merjenje sil (F). Nadalje vsebuje naprava po izumu za določanje smeri sile (F) in za določanje njenega nahajališča in njene usmerjenosti v prostoru tudi pospeškometer (5), žiroskop (6) in magnetometer (7) pri čemer vse podatke sredstva (4), pospeškometra (5), žiroskopa (6) in magnetometra (7) zbira mikrokrmilnik (8), ki jihovrednoti z modeli in algoritmi, ter na zaslonu (9), računalniškem ali TV zaslonu, vadečega sproti obvešča o stanju vadbe in mu predlaga sledeče korake vadbe.

Description

NAPRAVA ZA UGOTAVLJANJE IN PRIKAZOVANJE
RAZLIKE VEKTORJEV SIL, KI JU IZVAJA PAR ROK ALI NOG
Predmet izuma [001] Predmet izuma je naprava za ugotavljanje in prikazovanje razlike vektorjev sil, ki ju izvaja par rok ali nog. V prednostni izvedbi je naprava predvidena za vadbo rok ali nog pacientov s hemiparezo, t.j. mišično obolevnostjo na polovici telesa. Enaka naprava je uporabna tudi za vadbo rekreativnih, zlasti pa tekmovalnih športnikov za vadbo para rok, zlasti pa nog za dosego predvidenih zmožnosti tako z vidika moči, hitrosti in usklajenosti delovanja obeh okončin istega para. Naprava po izumu je lahko uporabljena tudi za izvajanje računalniških iger, pri katerih je dodan nov element: vektor sile, kakršnega dejansko ustvaija igralec in ne samo simulira.
Tehnični problem [002] Tehnični problem, ki ga rešuje izum je, kako zasnovati tako napravo za vadbo mišic in posredno živčevja, ki bo omogočala vadbo osebe, npr.: pacienta ali športnika zlasti brez prisotnosti trenerja ali fizioterapevta in zunaj strokovnih ustanov, pri čemer naj naprava omogoča izvajanje takih vaj, pri katerih bo upoštevano terapevtsko ali športno načelo, da naj bo mera (kriterij) za
38232.doc/V-10/Vr • · uspešnost posameznega vadbenega koraka, vaje in celotnega vadbenega obdobja stalna in sprotna primerjava gibalnih zmožnosti ene roke ali noge z istovrstnimi zmožnostmi drugega uda, s tem, da bo naprava sproti sledila navedenemu načelu in hkrati sporočala vadečemu pri tej samo vadbi o stopnji uspešnosti vadbe in svetovala, kako nadaljevati z vadbo. Ko gre za terapijo pacienta, naj naprava med vadbo sproti beleži stanje zdravega in obolelega uda, primerja in svetuje vadečemu naslednje vadbene korake. Hkrati naj naprava posreduje te informacije strokovni osebi za njeno nadaljnje strokovno ovrednotenje in sicer za podrobnejša navodila vadeči osebi kot tudi za strokovne raziskave na osnovi teh informacij večjega števila vadečih.
Znano stanje tehnike [003] Tovrstne naprave so znane s področja rehabilitacije. Te naprave nudijo pacientu možnost raznovrstnih vadb obolelih udov, vendar nikoli tako, da se hkrati primerja zmožnost zdravega uda z obolelim pri izvajanju neke vadbene naloge, ter da se iz tega ustvarjajo napotki pacientu za nadaljnjo vadbo. Za take namene je predvidena terapija ob nadzoru terapevta, ki predlaga korakoma spremenjene vaje glede na svoje strokovne ocene razvoja zdravljenja.
[004] Obstaja potreba po drugačni napravi, katere delovanje naj temelji na spoznanju fiziološke značilnosti, da je vadba oziroma terapija obolelega uda učinkovitejša, če pacient hkrati vadi tudi zdrav ud. Hkratna vadba zdravega in obolelega uda istega para privede do harmoničnega razvoja mišic obolelega uda glede na mišično stanje zdravega uda, ki pri hkratni vadbi deluje kot sprotno merilo za krepitev obolelega uda. Končni rezultat je medsebojno uravnoteženo stanje mišično živčnega tkiva zdravega in ozdravljenega uda istega para.
Rešitev tehničnega problema [005] Opisani tehnični problem je rešen z napravo po izumu, katere konstrukcijska značilnost in novost uteleša opisano vadbeno načelo tako, da
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vadečemu njena konstrukcija sama po sebi ponuja tako vadbo, ne da bi mu bilo potrebno poznati ta načela. Naprava po izumu nudi in zagotavlja pravilno vadbo s tem, da omogoča istočasno vadbo obeh udov istega para, npr. zdravega in obolelega uda in sproti primeija jakost in smer sil, ki jih izvajata hkrati oba uda na napravo, te vrednosti ovrednoti in posreduje vadečemu primeren napotek za vadbo v naslednjem koraku. Navedeno samodejno izvajanje naprave omogoča, da vadeči lahko vadi tudi brez nadzora strokovne osebe in zunaj strokovnih ustanov brez nevarnosti, da bi prišlo do napačne ali celo škodljive vadbe. Naprava sproti med vadbo predstavi vadečemu napotke v taki zvočno slikovni obliki in taki vsebini, da jo bo lahko pacient takoj vključil v vadbo brez posebnega predhodnega znanja.
[006] Podrobneje bo bistvo izuma pojasnjeno z opisom izvedbenega primera z oziroma na priložene risbe, na katerih kaže sl. 1 prečni prerez naprave po izumu po prvem izvedbenem primeru, sl. 2 shematski prikaz naprave po izumu in po drugem izvedbenem primeru, in sl. 3 shematski prikaz naprave po izumu in po tretjem izvedbenem primeru.
[007] Naprava za ugotavljanje in prikazovanje razlike vektoijev sil, ki ju izvaja par rok ali nog vadečih oseb, npr. pacientov s hemiparezo, t.j. mišično obolevnostjo na polovici telesa, ali pa športnikov, je izvedena iz ohišja 1, iz katerega izhajata sredstvi 2 za sodelovanje s parom udov-rok ali nog, ki nista prikazani na sliki. Pri pacientih predpostavimo, da je lahko en ud obolel z navedeno hemiparezo. Sredstvi 2 sta oblikovani na različne načine z namenom, da omogočata pravilno sodelovanje s tretiranim parom udov pri posamezni obliki vaje. Zato je predvideno, da se lahko sredstvi 2 zamenjujeta. Najobičajnejša izvedba sredstva 2 je ročaj, ki ga vadeči drži z eno roko. Za vadbo poškodovanih udov, ki niso sama po sebi zmožna držati sredstvo in izvajati vaj, so predvidena
38232.doc/V-10/Vr • · sredstva 2, ki se jih pritrdi z znanimi elementi na fizioterapevtsko ustrezno mesto na udih. Prav tako so sredstva 2 za noge posebne izvedbe. Detajlna izvedba sredstev 2 ni predmet tega izuma.
[008] Sredstvi 2 sta nameščeni v ležajih 3 znotraj ohišja 1. Vsako sredstvo 2 je povezano s sredstvom 4 za merjenje sil. Sredstvo 4 meri silo F, ki se pojavi zaradi različnega delovanja posameznega uda na sredstvo 2 v smislu upogiba. Če sta obe roki ali nogi enako zmožni, lahko dosežeta enak rezultat pri neki vaji in razlika sil znaša 0, kar je cilj take terapije oziroma vadbe. Glede na dejstvo, da so zmožnosti različnih vadečih v zdravem stanju različne, je edini merodajni način ocene vadbe sprotna primerjava zmožnosti zdravega uda z zmožnostjo tretiranega uda pri isti vaji.
[009] Razen tistih gibov posameznih udov, katerih učinek se meri s primerjanjem učinka enega glede na drugi ud istega para, vključujejo vaje tudi gibe, pri katerih je predvideno usklajeno delovanje obeh udov, pri čemer je pričakovati, da zdrav ud v začetku terapije vodi in pomaga obolelemu udu, dokler se oboleli ud ne okrepi, v idealnem primeru zaključka terapije postane enakovreden zdravemu udu. Take vaje zahtevajo premikanje celotne naprave po izumu z obema udoma v predpisane smeri.
[0010] Za spremljanje in ovrednotenje teh vaj so v napravi predvideni dodatni merilniki lege in usmerjenosti naprave po izumu, ko jo vadeči premika v prostoru in hkrati spreminja hitrosti premikov.
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[0011] Za navedeno določanje smeri sile F so predvideni pospeškometer 5, žiroskop 6 in magnetometer 7.Pospeškometer 5, žiroskop 6 in magnetometer 7 skupaj ugotavljajo trenutno orientacijo naprave v prostoru glede na izbrani koordinatni sistem. Podrobnosti tega sklopa niso predmet tega izuma.
[0012] Za potrebe meijenja lege naprave v prostoru je poleg meqenja njene orientacije potrebno meriti tudi njeno pozicijo. Grobo oceno pozicije je mogoče dobiti iz meritev s pomočjo pospeškometra 5. Za bolj natančne meritve pozicije naprave je predvidena uporaba senzoijev pozicije, ki temeljijo na mehanskem, npr. pritrditev naprave na mehanizem s sklepi in senzoiji položaja sklepov, optičnem, npr. kamera in markeiji ali video kamera, ultrazvočnem, npr. uporaba oddajnikov in sprejemnikov ultrazvoka za določitev položaja ali elektromagnetnem principu, npr. nadgradnja naprave s tuljavami in postavitev naprave v nadzorovano elektromagnetno polje. S pomočjo senzoijev orientacije in pozicije je mogoče določiti natančno lego naprave v prostoru glede na izbrani koordinatni sistem.
[0013] Vse podatke sredstva 4, pospeškometra 5, žiroskopa 6 in magnetometra 7 zbira mikrokrmilnik 8, ki jih ovrednoti z modeli in algoritmi, ki niso predmet tega izuma, ter na zaslonu 9, računalniškem ali TV zaslonu, vadečega sproti obvešča o stanju vadbe in mu predlaga sledeče korake vadbe. Informacije so lahko tudi zvočne preko zvočnika 10 razen vidnih na zaslonu 9.
[0014] V drugem izvedbenem primeru je k navedenemu prvemu izvedbenemu primeru pridan element 11 za povezavo naprave po izumu na neko izbrano fiksno vpetje 12. Povezava naprave po izumu preko elementa 11 na vpetje 12 je elastična s predvideno, lahko tudi nastavljivo upornostjo, ki nudi vadečemu pomoč, npr. kompenzira silo teže rok ali protiupor, npr. simulira silo
38232.doc/V-10/Vr težnosti ipd., kakor zahteva posamezna vaja. Na fiksno vpetje je mogoče dodati senzor pozicije, ki omogoča meijenje položaja naprave v prostoru in deloma nadomešča meritve z napravami, opisanimi v prvih dveh izvedbenih primerih.
[0015] V tretjem izvedbenem primeru je element 11 izpopolnjen v smislu robota, ki po računalniškem programu vadečemu nudi in nadzoruje nadzorovane kompleksne premike, dodaja spreminjajoče nasprotne sile, kakor narekuje vsakokratna vaja vadečemu. Tak robot lahko pomaga pravilno vaditi s tem, da vadečega usmelja, da razvije primemo silo in njeno smer z obolelim udom. V tem primeru robot premika napravo po izumu, kot predvideva vaja, medtem ko vadeči sledi oziroma odgovarja programu z ustreznim gibanjem svojih vadečih udov s predvideno silo v predvideni smeri, kot zahteva posamezna vaja. Robot, preko meritev položaja v njegovih sklepih, omogoča meijenje lege naprave v prostoru.
[0016] Pri vseh navedenih izvedbenih primerih je za usklajeno delovanje naprave po izumu predviden računalniški sklop, ki sprejema vrednosti, ki jih posredujejo navedeni merilniki sil in pospeškov in sredstva za ugotavljanje prostorske lega naprave in smeri njenega gibanja. Te vrednosti obdeluje mikrokrmilnik in jih shrani ter sproti primerja s prednastavljenimi vrednostmi, ki jih izbere strokovnjak, ki vodi vadbo ali terapijo. Te vrednosti predstavljajo ciljne vrednosti posamezne vaje ali vadbe kot celote. Seveda so v računalniškem sklopu predvideni modeli vsake vaje, ki tvorijo osnovo za vodenje vadbe, ki jo izvaja ta sklop. Zbrane podatke vsake vaje posamezne vadeče osebe lahko sproti ali kasneje preučujejo strokovnjaki. Statistična obdelava teh podatkov lahko služi kot dokaz uspešnosti posameznih vaj. Zato vsebuje naprava sredstva za sprotno pošiljanje podatkov strokovnjakom, npr. internetska povezava ali pa za kasnejši prenos podatkov preko poljubnih znanih nosilcev podatkov. Po isti poti - sprotno ali kasneje - je tudi vračanje podatkov v napravo za nova navodila pri naslednjih
38232.doc/V-10/Vr • · vajah. Torej naprava po izumu omogoča sprotno določanje vaj glede na hitrost in kakovost okrevanja posamezne vadeče osebe.
[0017] Za posredovanje navodil pred vsakokratno vadbo, med njo in za sporočanje rezultatov po vsakokratno izvedeni vaji je predvidena uporaba osebnega računalnika 13 (ali ustreznega TV sprejemnika) in interneta 14, preko katerih mikrokrmilnik 8 v napravi po izumu in/ali fizioterapevt v smislu oddaljenega pristopa do strokovnega središča (telerehabilitacija) 15, od koder vadeči prejema ustrezna sporočila. Hkrati pa to središče 15 zbira podatke različnih vadečih oseb in jih lahko strokovno obravnava.
[0018] Kot je bilo že navedeno, je naprava po izumu namenjena tako za terapijo obolelih oseb, lahko pa tudi za namensko vadbo oseb, ki želijo uskladiti zmožnost para udov glede na zatečeno stanje in potrebe. Mišljeni so predvsem športniki, zlasti vrhunski, pri katerih se pojavijo nezaželene napake pri razvoju mišično živčnega tkiva med vadbo. Tako je možno uskladiti moč in odzivnost para udov, da delujeta gibalno usklajeno in z enako močjo, ali pa posebna športna panoga zahteva korekcijo zmožnosti posameznega uda. Vse to omogoča naprava po izumu.
[0019] Nadalje je lahko naprava po izumu uporabljena pri računalniških igricah kot igralni vmesnik. Dosedanji tovrstni vmesniki (npr. igralne konzole ali igralne palice) nudijo igralcu posredovanje različnih ukazov v analogni in/ali digitalni obliki ter dvo- ali trosmemo vodenje enega ali več objektov v navideznem prostoru, ki ga tvori računalnik in prikazuje na zaslonu. Naprava po izumu dodaja tovrstnim igricam še novo igralno veličino: usmeijeno realno silo, ki naj jo igralec ustvarja na napravi po izumu in z njo vpliva na potek iger, kot predvideva računalniški program igrice.
38232.doc/V-10/Vr • · [0020] Nadalje je strokovnjaku s tega področja samoumevno, da je možno na znan način dopolniti opisano napravo po tem izumu tako, da vsebuje več kot par sredstev za sodelovanje s parom udov, npr. za igro več kot enega igralca ali za kompleksnejše terapije, ki npr. ne učinkujejo samo na mišično živčni sistem udov ampak še drugih delov organizma.
[0021] Razume se, da lahko strokovnjak, ki pozna izum po gornjem opisu, zasnuje tudi nadaljnje izvedbene primere, ne da bi obšel značilnosti izuma, kot so opredeljene v sledečih patentih zahtevkih.

Claims (5)

1. Naprava za ugotavljanje in prikazovanje razlike vektorjev sil, ki ju izvaja par rok ali nog vadečih oseb, npr. pacientov s hemiparezo, t.j. mišično obolevnostjo na polovici telesa, ali pa športnikov, ki je izvedena iz ohišja (1), iz katerega izhajata prednostno dve sredstvi (2) za sodelovanje s parom udov - rok ali nog, pri čemer sta sredstvi (2) oblikovani na različne načine z namenom, da omogočata pravilno sodelovanje s tretiranim parom udov pri posamezni obliki vaje, ter sta nameščeni v ležajih (3) znotraj ohišja (1), nadalje iz mikrokrmilnika (8) in po potrebi računalnika (13), interneta (14) za povezavo do strokovnega središča (15), označena s tem, daje vsako sredstvo (2) povezano s sredstvom (4) za merjenje sil (F) in da vsebuje za določanje smeri sile (F) in za določanje njenega nahajališča in njene usmerjenosti v prostoru znana sredstva, kot npr. pospeškometer (5), žiroskop (6) in magnetometer (7), pri čemer vse podatke sredstva (4), pospeškometra (5), žiroskopa (6) in magnetometra (7) zbira mikrokrmilnik (8), ki jih ovrednoti z modeli in algoritmi, ter na zaslonu (9), računalniškem ali TV zaslonu, vadečega sproti obvešča o stanju vadbe in mu predlaga sledeče korake vadbe.
2. Naprava po zahtevku 1, označena s tem, da je pridan element (11) za njeno povezavo na neko izbrano fiksno vpetje (12), pri čemer je navedena povezava preko elementa (11) na vpetje (12) elastična s predvideno, lahko tudi nastavljivo upornostjo.
3. Naprava po zahtevku 1, označena s tem, daje element (11) izveden v smislu robota, ki po računalniškem programu vadečemu nudi in nadzoruje nadzorovane kompleksne premike, dodaja spreminjajoče nasprotne sile kakor narekuje vsakokratna vaja vadečemu.
38232.doc/V-10/Vr • w ····
4. Naprava po zahtevku 1 do 3, označena s tem, da je za usklajeno delovanje naprave po izumu predviden računalniški mikrokrmilnik (8), ki sprejema vrednosti, ki jih posredujejo navedeni merilniki sil in pospeškov in sredstva za ugotavljanje prostorske lega naprave in smeri njenega gibanja, jih vrednoti in jih shrani ter sproti primega s prednastavljenimi vrednostmi, ki jih izbere strokovnjak, ki vodi vadbo ali terapijo.
5. Naprava po zahtevku 1 do 4, označena s tem, da se lahko sredstvi (2) zamenjujeta za prilagoditev stanju tretiranih udov vadečega.
SI201000204A 2010-07-07 2010-07-07 Naprava za ugotavljanje in prikazovanje razlike vektorjev sil, ki ju izvaja par rok ali nog SI23421A (sl)

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JP2013518345A JP2013535234A (ja) 2010-07-07 2011-07-07 一対の腕又は脚によって及ぼされる力のベクトルの差を評価し表示する装置
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