CN113940644A

CN113940644A - Family monitoring rehabilitation system

Info

Publication number: CN113940644A
Application number: CN202111414865.9A
Authority: CN
Inventors: 谢灿; 张燕; 陈甫; 杨仁强; 李泞原
Original assignee: Chongqing College of Electronic Engineering
Current assignee: Chongqing College of Electronic Engineering
Priority date: 2021-11-25
Filing date: 2021-11-25
Publication date: 2022-01-18

Abstract

The invention relates to the technical field of health monitoring, and particularly discloses a family monitoring rehabilitation system, which comprises: the monitoring module is used for acquiring vital sign data; the monitoring server is used for judging whether the vital signs of the current user are abnormal or not according to the vital sign data, and generating alarm information if the vital signs of the current user are abnormal; the training plan is also generated according to the vital sign data; the rehabilitation training robot comprises a control module, a seat body and training arms symmetrically arranged on two sides of the seat body; the training arm is rotatably connected with the seat body and is used for fixing the upper limb of the user; the control module is used for controlling the training arm to rotate according to the training plan. By adopting the technical scheme of the invention, the chronic diseases can be effectively monitored and rehabilitated and trained in a household environment.

Description

Family monitoring rehabilitation system

Technical Field

The invention relates to the technical field of health monitoring, in particular to a family monitoring rehabilitation system.

Background

Cerebral apoplexy is the second leading cause of death and adult disability worldwide, and is attributed to cerebral hemorrhage or ischemia, resulting in temporary or permanent damage and even death of nerves, thus causing motor dysfunction, language loss, impaired hearing and vision, etc., not only seriously affecting the daily life of patients, but also causing great burden to the families of patients. Patients with stroke should intervene in rehabilitation therapy as early as possible, otherwise the gold treatment period is missed and the damaged nerve function is possibly difficult to recover again. In addition, with the aging population, the incidence rate of cerebral apoplexy also tends to increase year by year in the global scope. Therefore, the rehabilitation therapy of stroke is receiving more and more attention and attention from countries around the world.

The traditional rehabilitation and health monitoring of patients in later period such as cerebral apoplexy are mainly responsible for other mechanisms such as medical institutions, old-age institutions or communities. Although this type of mechanism solves some of the patients' needs for health monitoring and rehabilitation on a macroscopic level, it has several problems:

firstly, for solitary old people or solitary nesters and serious disabled people, great potential safety hazards exist when the old people enter medical institutions or communities for rehabilitation and health monitoring;

secondly, the medical institution and the old-age institution actively carry out the health diagnosis and monitoring of the personnel, and the problem of incomplete coverage exists due to the information registration problem;

thirdly, if the rehabilitation people can not enter a designated mechanism for examination on time, the best treatment time can be missed;

and fourthly, many stroke patients often cannot continue rehabilitation treatment after discharge due to economic reasons and self condition limitations, so that disuse syndrome is caused, and a series of problems such as joint contracture, muscle atrophy and the like occur.

For this reason, there is a need for a home monitoring rehabilitation system that can perform rehabilitation and management of chronic diseases such as stroke in a home environment.

Disclosure of Invention

The invention provides a family monitoring rehabilitation system which can effectively monitor and rehabilitate and train chronic diseases in a household environment.

In order to solve the technical problem, the present application provides the following technical solutions:

a home monitoring rehabilitation system comprising:

the monitoring module is used for acquiring vital sign data;

the monitoring server is used for judging whether the vital signs of the current user are abnormal or not according to the vital sign data, and generating alarm information if the vital signs of the current user are abnormal; the training plan is also generated according to the vital sign data;

the rehabilitation training robot comprises a control module, a seat body and training arms symmetrically arranged on two sides of the seat body; the training arm is rotatably connected with the seat body and is used for fixing the upper limb of the user;

the control module is used for controlling the training arm to rotate according to the training plan.

The basic scheme principle and the beneficial effects are as follows:

in this scheme, through monitoring module, can carry out the collection of vital sign data to the user of nursing at home, the rethread monitoring server can judge user's present vital sign based on the vital sign who has gathered, when having the anomaly, in time reports an emergency and asks for help or increased vigilance, avoids missing the best treatment opportunity. The training plan is generated according to the vital sign data of the user, the pertinence is stronger, and the actual rehabilitation requirements of the user are better met. When the user uses the rehabilitation training robot, the user sits on the seat body of the rehabilitation training robot, the upper limbs of the user can be fixed on the training arms through the winding of the binding bands and the like, then the training arms rotate according to a training plan, and the purpose of driving the upper limbs of the user to rotate is achieved. The rehabilitation training device can effectively perform rehabilitation training on the upper limbs of a user, and relieve a series of problems of disuse syndrome, joint contracture, muscular atrophy and the like.

In conclusion, the scheme can effectively monitor and rehabilitate the chronic diseases in the home environment.

Further, the vital sign data includes one or more of heart rate, breathing frequency, body temperature, weight, and blood pressure.

The system can comprehensively collect various data of the user.

Further, the monitoring server comprises an information processing unit, a communication unit and a first control unit;

the communication unit is used for receiving the vital sign data from the monitoring module;

the information processing unit is used for judging whether the vital signs of the current user are abnormal or not according to the vital sign data and pre-stored vital sign information, and generating alarm information if the vital signs of the current user are abnormal; the information processing unit is also used for generating a control instruction;

the communication unit is also used for pushing the alarm information to a terminal of the associated contact; and sending the control instruction to a monitoring module.

The vital sign data is judged by combining the pre-stored vital sign information, so that the judgment accuracy can be improved. For example, the vital sign information includes normal intervals of several items, and if one item of the vital sign data exceeds the normal interval, it is determined that the vital sign information is abnormal. By pushing the alarm information to the terminal associated with the contact person, family or friends and the like can know the condition of the user in time and process the condition in time. By sending the control instruction to the monitoring module, the monitoring module can be controlled, for example, to be turned on or turned off.

Further, the communication unit is also used for receiving the medical health record of the user from a server of the medical institution;

the communication unit is also used for converting the vital sign data into a preset format and sending the preset format to a server of a medical institution;

the communication unit is also used for receiving the disease condition notice from the server of the medical institution and sending the disease condition notice to the terminal of the associated contact.

By receiving the medical health record of the user from the server of the medical institution, the subsequent user, the associated contact of the user or the community medical staff on the user and the like can conveniently check the medical health record, and the current situation of the user can be known.

And converting the vital sign data into a preset format and sending the preset format to a server of a medical institution, so as to provide a basis for subsequently updating the medical health file of the user. Because the medical institution may not have the contact information of the associated contact person, the monitoring server can also play a role in message forwarding, so that the associated contact person can know the illness state notification of the user in time.

Further, the rehabilitation training robot also comprises driving motor sets symmetrically arranged on two sides of the seat body; the training arm comprises a first crank arm, a first joint part, a first straight arm, a second joint part, a second straight arm and a first limiting ring; the first crank arm, the first joint part, the first straight arm, the second joint part and the second straight arm are positioned in the same vertical plane;

the longitudinal section of the first crank arm is arc-shaped, one end of the first crank arm is fixedly connected with the first joint part, one end of the first straight arm is fixedly connected with the first joint part, and the other end of the first straight arm is rotatably connected with the second joint part; one end of the second straight arm is fixedly connected with the second joint part, and the other end of the second straight arm is fixedly connected with the first limiting ring;

the driving motor set comprises a first driving motor and a second driving motor, the first driving motor is fixed on the seat body, the first joint part is fixedly connected with an output shaft of the first driving motor, and the first driving motor is used for driving the first joint part to rotate in a vertical plane; the second driving motor is fixed in the second joint part and used for driving the second joint part to rotate in a vertical plane relative to the first straight arm.

The movement of the upper limbs of the user can be simulated through the first crank arm, the first joint part, the first straight arm, the second joint part and the second straight arm, the wrist of the user can be fixed through the first limiting ring, and the purposes of performing rehabilitation training on the upper limbs of the user, relieving a series of problems of disuse syndrome, joint contracture, muscle atrophy and the like are achieved.

Further, the control module is used for controlling the torque and the rotation angle of the first driving motor and the second driving motor according to the training plan.

It is ensured that the training arm moves according to the training plan.

Further, the rehabilitation training robot further comprises a detection sensor group, the detection sensor group comprises a first detection sensor and a second detection sensor, the first detection sensor is used for detecting first torque data and first rotation angle data of the first driving motor, and the second detection sensor is used for detecting second torque data and second rotation angle data of the second motor.

By detecting the sensor group, the current movement condition of the training arm can be monitored.

Further, the control module is further configured to receive the first torque data, the second torque data, the first rotation angle data, and the second rotation angle data, and perform feedback control on the first driving motor and the second driving motor based on the first torque data, the second torque data, the first rotation angle data, and the second rotation angle data.

Through feedback control, the deviation between the actual motion situation and the planned motion situation of the training arm can be reduced, and the control is more accurate.

Drawings

FIG. 1 is a logic block diagram of a home monitoring rehabilitation system according to an embodiment;

FIG. 2 is an isometric view of a rehabilitation training robot in a home monitoring rehabilitation system according to an embodiment;

fig. 3 is a top view of a rehabilitation training robot in a home monitoring rehabilitation system according to an embodiment.

Detailed Description

The following is further detailed by way of specific embodiments:

the reference numbers in the drawings of the specification include: the chair comprises a chair back 1, a chair seat 2, a pedal 3, a first crank arm 4, a first joint part 5, a first straight arm 6, a second joint part 7, a second straight arm 8 and a first limiting ring 9.

Example one

As shown in fig. 1, the home monitoring rehabilitation system of the embodiment includes a monitoring module, a monitoring server, and a rehabilitation training robot.

The monitoring module is used for collecting vital sign data, the vital sign data comprise one or more of heart rate, breathing frequency, body temperature, weight and blood pressure, and the embodiment comprises all the above. The monitoring module comprises a plurality of sensors, such as a heart rate sensor, a temperature sensor, a weight sensor, a respiratory rate detector, a blood pressure measuring instrument and the like, and the vital sign data acquisition is realized.

For example, an acceleration sensor, a temperature sensor, a heart rate sensor and the like are arranged in the wearable device, a 4G/WIFI/Bluetooth module and an ARM processor support a TCP/IP protocol stack and the standard of the Internet of things, physiological sign data acquisition of temperature and heart rate and extra motion data acquisition can be completed, and the ARM processor completes data format conversion and data network processing; the 4G/WIFI/Bluetooth module completes data interaction with the monitoring server.

The monitoring server adopts a home gateway to realize the convergence of vital sign data, adopts a GB/T35319 and 2017 standard Internet of things interface (SRAI-01-SRAI-21 regulation), adopts TCP/IP and HTTP protocols, meets the access processing of the home gateway to a monitoring module meeting the standard, and can also meet the requirement of the expansion of the Internet of things.

The system specifically comprises an information processing unit and a communication unit;

the information processing unit is used for judging whether the vital signs of the current user are abnormal or not according to the vital sign data and pre-stored vital sign information, and generating alarm information if the vital signs of the current user are abnormal; in this embodiment, the vital sign information is from an information base of a medical institution, and the vital sign information includes a normal interval of a plurality of data, for example, if the heart rate exceeds the normal interval, it is determined as abnormal.

The communication unit is also used for pushing the alarm information to the terminal of the associated contact and the server of the medical institution. The associated contact may be a family or a friend of the user, and the associated contact may be set in advance, for example, a phone number is filled in, short message information is pushed, a social software account is bound, and pushing is performed through a message in a social software application.

The communication unit is also used for receiving the medical health record of the user from the server of the medical institution; in this embodiment, the server of the medical institution is specifically a server of a cloud computing big data center of the medical institution.

The communication unit is also used for converting the vital sign data into a preset format and sending the preset format to a server of a medical institution. The purpose of actively reporting the condition of the monitored personnel is achieved. For example, vital sign data such as heart rate, breathing frequency, body temperature, body weight, and blood pressure are encoded and encapsulated in a protocol data unit for transmission.

The communication unit is also used for receiving the disease condition notice from the server of the medical institution and sending the disease condition notice to the terminal of the associated contact. In this embodiment, the terminal associated with the contact is a mobile phone.

The information processing unit is also used for generating a control instruction and sending the control instruction to the monitoring module through the communication unit so as to realize the control of the monitoring module.

In this embodiment, the method and the device are used for controlling the on-off, the acquisition cycle and the like of the monitoring module. For example, the temperature sensor is controlled to be on, and the collection is performed every 10 minutes.

As shown in fig. 2 and 3, the rehabilitation training robot comprises a seat body, pedals 3, a control module, training arms symmetrically arranged at two sides of the seat body, a driving motor set and a detection sensor set;

the seat body is including the back of the chair 1 that is used for supporting human back and the seat support 2 that is used for supporting human buttock, and open the leading flank of seat support 2 has the holding tank, footboard 3 and the lateral wall sliding connection of holding tank for footboard 3 can slide into and accomodate in the holding tank, and stretch out the outer support both feet of holding tank.

The training arm comprises a first crank arm 4, a first joint part 5, a first straight arm 6, a second joint part 7, a second straight arm 8 and a first limiting ring 9. The first crank arm 4, the first joint 5, the first straight arm 6, the second joint 7, and the second straight arm 8 are located in the same vertical plane.

The longitudinal section of the first crank arm 4 is arc-shaped, one end of the first crank arm 4 is fixedly connected with the first joint part 5, one end of the first straight arm 6 is fixedly connected with the first joint part 5, and the other end of the first straight arm 6 is rotatably connected with the second joint part 7; one end of the second straight arm 8 is fixedly connected with the second joint part 7, and the other end of the second straight arm 8 is fixedly connected with the first limiting ring 9.

The driving motor set comprises a first driving motor and a second driving motor, the first driving motor is fixed on the side surface of the chair back 1, the first joint part 5 is fixedly connected with an output shaft of the first driving motor, and the first driving motor is used for driving the first joint part 5 to rotate in a vertical plane; the second driving motor is fixed in the second joint part 7 and used for driving the second joint part 7 to rotate in a vertical plane relative to the first straight arm 6. Specifically, the angle of rotation of the first joint 5 in the vertical plane and the angle of rotation of the second joint 7 in the vertical plane with respect to the first straight arm 6 can be determined according to the movement characteristics of the human upper limb. In actual use, a speed reducer may be provided in the first joint 5 and the second joint 7 to reduce the speed.

In this embodiment, still set up the bandage on first crank arm 4, first straight arm 6 and the straight arm 8 of second for fixed upper limbs by monitoring personnel, first spacing ring 9 supplies to pass by monitoring personnel's wrist, realizes wholly that the upper limbs of monitoring personnel is fixed through the training arm, is driven by the training arm and is moved by monitoring personnel's upper limbs activity.

The detection sensor group comprises a first detection sensor and a second detection sensor, the first detection sensor is used for detecting first torque data and first rotation angle data of the first driving motor, and the second detection sensor is used for detecting second torque data and second rotation angle data of the second driving motor.

The information processing unit is used for generating a training plan according to the vital sign data, or the communication unit receives the training plan from a server of the medical institution. The training plan can be set specifically according to the current physical condition of the monitored person. For example, the information processing unit prestores a basic training plan, analyzes whether the vital signs of the monitored person are abnormal according to the current vital sign data, and reduces the exercise amount or suspends the training if the vital signs are abnormal. In this embodiment, the training program includes a training duration and an upper limb movement range.

The communication unit is further configured to transmit the training program to the control module.

The control module is used for controlling the torque and the rotation angle of the first driving motor and the second driving motor according to the training plan, and realizing feedback control based on the received first torque data and second torque data and the first rotation angle data and the second rotation angle data.

The rehabilitation training robot of the embodiment meets the bending and stretching motion postures of the shoulder, elbow and wrist joint type people according to the modular design of the shoulder, elbow and wrist joint parts; the human-like motion posture is realized, and the motion flexibility of the training arm is improved.

The scheme of the embodiment applies technologies such as the Internet of things and the robot to the field of family health, and has certain creativity; the vital sign data acquisition is automatically completed based on the monitoring module, and professional persons such as nurses and the like are not required to operate the system, so that the system is convenient for users to use; the scheme also supports the medical institution to import the vital sign information, and the monitoring server automatically judges whether the vital sign of the current user is abnormal according to the vital sign data and the prestored vital sign information, so that the abnormal condition can be automatically alarmed without the user knowing the complicated vital sign information, and the use is convenient.

Example two

The difference between this embodiment and the first embodiment is that, in this embodiment, the rehabilitation training robot further includes a myoelectric detection sensor for acquiring a surface myoelectric signal of an upper limb of a human body. In this embodiment, the myoelectric detection sensor is a myoelectric biofeedback instrument, and a detection electrode of the myoelectric biofeedback instrument can be attached to the upper limb.

The control module is used for analyzing the movement intention of the monitored person according to the surface electromyogram signal, controlling the first driving motor and the second driving motor based on the movement intention and providing auxiliary force for the movement of the monitored person.

Specifically, the control module includes:

the preprocessing unit is used for carrying out noise reduction processing on the surface myoelectric signals;

the characteristic extraction unit is used for extracting a characteristic value from the denoised surface electromyogram signal;

the characteristic value is used for representing the relation between force and myoelectricity. When the muscle is contracted with different loads, the electromyographic signal imeg is proportional to the muscle force, i.e. the larger the tension produced by the muscle the larger the imeg. For example, if the acquired characteristic value is in a certain interval on the frequency, the torque force of the driving motor can be increased or decreased, and the auxiliary support of the training arm on the upper limb can be further controlled.

The movement intention identification unit is used for inputting the characteristic value into the trained BP neural network model and obtaining the output of the joint active torque information from the BP neural network model;

the gravity compensation unit is used for inputting joint active torque information into the trained RBF neural network model and acquiring the output of human-computer interaction force from the RBF neural network model;

the interaction control unit is used for calculating expected displacement of the first joint part 5 and the second joint part 7 by using the man-machine interaction force as an input term through an attractor polynomial approximation algorithm;

the attractor polynomial approximation algorithm has two functions of self-vibration and input-output synchronization, the attractor polynomial approximation algorithm can output the reference track of the corresponding training arm joint part according to various motions of the monitored person during passive training, the attractor polynomial approximation algorithm is used for outputting the expected displacement of the training arm joint part which keeps synchronization with the human-computer interaction force in frequency and phase, and the synchronization degree parameter is adjustable so as to serve active rehabilitation training of the monitored person

And the feedback control unit is used for acquiring the first torque data, the first rotation angle data, the second torque data and the second rotation angle data, and dynamically adjusting the torque and the rotation angle of the first driving motor and the second driving motor based on the expected displacement of the first joint part 5 and the second joint part 7.

In this embodiment, the attractor polynomial approximation algorithm may deeply analyze the operation mechanism of the training arm, analyze and maintain the relevant characteristics of the synchronization of the input (human-computer interaction force, which includes the motion information of the monitored person such as joint flexion and extension recognized by the motion intention recognition unit) and the output (such as the expected trajectory of the robot) signals, and make the expected displacement approach the actual motion requirement of the monitored person.

And the gravity compensation unit identifies the joint active torque information through the RBF neural network model so as to subtract the gravity term from the joint active torque to obtain the man-machine interaction force as the input of the algorithm.

On the whole, the motion that makes rehabilitation robot through control module is close the actual state of people's upper limbs motion, finally makes rehabilitation robot's motion more accurate, and is more reasonable, accords with the actual motion demand of monitored personnel.

The above are merely examples of the present invention, and the present invention is not limited to the field related to this embodiment, and the common general knowledge of the known specific structures and characteristics in the schemes is not described herein too much, and those skilled in the art can know all the common technical knowledge in the technical field before the application date or the priority date, can know all the prior art in this field, and have the ability to apply the conventional experimental means before this date, and those skilled in the art can combine their own ability to perfect and implement the scheme, and some typical known structures or known methods should not become barriers to the implementation of the present invention by those skilled in the art in light of the teaching provided in the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims

1. A home monitoring rehabilitation system, comprising:

the monitoring module is used for acquiring vital sign data;

2. The home monitoring rehabilitation system according to claim 1, wherein: the vital sign data includes one or more of heart rate, breathing frequency, body temperature, weight, and blood pressure.

3. The home monitoring rehabilitation system according to claim 1, wherein: the monitoring server comprises an information processing unit, a communication unit and a first control unit;

4. The home monitoring rehabilitation system according to claim 3, wherein: the communication unit is further used for receiving the medical health record of the user from a server of the medical institution;

5. The home monitoring rehabilitation system according to claim 3, wherein: the rehabilitation training robot also comprises driving motor sets symmetrically arranged on two sides of the seat body; the training arm comprises a first crank arm, a first joint part, a first straight arm, a second joint part, a second straight arm and a first limiting ring; the first crank arm, the first joint part, the first straight arm, the second joint part and the second straight arm are positioned in the same vertical plane;

6. The home monitoring rehabilitation system according to claim 5, wherein: the control module is used for controlling the torque and the rotation angle of the first driving motor and the second driving motor according to the training plan.

7. The home monitoring rehabilitation system according to claim 6, wherein: the rehabilitation training robot further comprises a detection sensor group, the detection sensor group comprises a first detection sensor and a second detection sensor, the first detection sensor is used for detecting first torque data and first rotation angle data of the first driving motor, and the second detection sensor is used for detecting second torque data and second rotation angle data of the second motor.

8. The home monitoring rehabilitation system according to claim 7, wherein: the control module is further used for receiving the first torque data, the second torque data, the first rotation angle data and the second rotation angle data, and performing feedback control on the first driving motor and the second driving motor based on the first torque data, the second torque data, the first rotation angle data and the second rotation angle data.