• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Robotic system for assisted functional rehabilitation of joints, consisting of an actuator (1) of mechanical transmission coadjuvant of the corresponding articulation of the member to be rehabilitated; an orthosis (2) for fastening to the patient; sensors (3) capable of measuring both the parameters and the angular position, speed, force and interaction torque between the system (1) and the member to be rehabilitated; electronic control (4), to collect the measurement of the sensors (3) and specifically its control in real time; control algorithm (5) for ongoing assistance that takes into account the interaction torque between the patient and the system (1) in order to produce an adaptive reference for gait assistance; and a power supply (6). Particularly, the power supply (6) is a battery that makes the portable set, capable of moving with the patient. Application in assisted functional rehabilitation of joints. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2689218A1
    申请号:ES201730499
    申请日:2017-03-30
    公开日:2018-11-12
    发明作者:Juan Camilo MORENO SASTOQUE；Maria Del Carmen SANCHEZ VILLAMAÑAN；Guillermo ASÍN PRIETO；José Luis PONS ROVIRA；Carlos FERNANDEZ ISOIRD；Juan Antonio MARTIN PRADO
    申请人:Gogoa Mobility Robots S L；Gogoa Mobility Robots SL；
    IPC主号:
    专利说明:

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    DESCRIPTION
    Robotized system for assisted functional rehabilitation of joints
    Object of the invention
    The object of the invention relates to a robotic system, with a degree of freedom used, in general, for assisted functional rehabilitation of joints.
    More particularly, the object of the invention relates to a portable robotic system, with a degree of freedom used for the rehabilitation of knee injuries, which can be used for movement assistance during the patient's natural gait.
    Background of the invention
    In the current state of the art the so-called "Robotic Assisted Rehabilitation Systems" (RAR) used in the clinical rehabilitation of patients with different types of injuries are already known, whether they are the result of accidents or acquired brain damage.
    In the current state of the art, the so-called "Continuous Passive Mobility Systems" (CPM) systems that give a robotic solution to repetitive rehabilitation movements are also known.
    Documents EP0760641, EP1503707, for example and among others, describe some of these systems / devices whose use generally requires that the patient be lying down. The equipment adjusts to the environment of the joint or area to be rehabilitated and the device repeatedly performs programmed flexion / extension movements, with previously regulated angles and / or speeds.
    In the current state of the art, rehabilitation apparatus that use virtual reality devices are even known; for example document EP0782843.
    Ways of controlling or assisting these devices have also been described, with three strategies mainly existing in diverse literature:
    • Control of trajectory: it starts from a trajectory of the progress of a healthy subject as a reference (previously recorded), and based on the angles rotated by the mechanism and the time it is acted on the motor so that the user follows the pattern of reference using a position controller (Colombo, G. et al., 2000; Aoyagi, D. et al., 2007).
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    • Adaptive trajectory control: the previous strategy has the disadvantage that not all users are equal, so the reference pattern taken may not be valid for the patient. In this case, in addition to the angle turned on the knee, the torque the user is exerting on the mechanism is monitored. This allows the position controller a deviation from its reference based on that pair (Emken, J.L. et al., 2008).
    • Admittance control: in this case there would be no control in position based on a previously defined pattern. The system would detect the user's intention by measuring the torque it exerts on the mechanism, and assist the user "helping" him in his movement. The disadvantage of this methodology is that if the user makes some sudden movement, the controller tends to amplify the movement even more (Nef, T et al., 2009).
    Technical problem to solve
    The main problem posed in the known technical solutions lies in the fact that the force or movements that the patient can make does not matter, since the device repeatedly performs programmed flexion / extension movements, with previously regulated angles and / or speeds. Rehabilitation takes place in any case without voluntary intervention and without taking into account the effort that the patient himself can contribute. Document EP2231096 is perhaps the clearest example of the unresolved problem: referring to a suitable exoskeleton as a walking aid, walker or medical device for a disabled user replaces "the completely disabled functions of a user needed to walk".
    Additional problems presented by known solutions in the current state of the art are that:
    • There is currently no active solution that allows the patient to perform functional rehabilitation, for example of one knee, during a normal march: for example, walking on the street without having to go to a health center, consultation or rehabilitation, with the consequent saving of time / money, in addition to the mood factor that it implies for the patient himself.
    • There is currently no system that offers the patient assistance "only when needed" (known systems offer assistance based on the "all / nothing" type)
    Description of the invention
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    The object of the invention is a robotic system, for the assisted functional rehabilitation of joints of an injured patient.
    The system object of the invention assists the patient only when and where he needs it; intelligently through proper control.
    The robotic system object of the invention is characterized in that it consists of:
    • an auxiliary actuator of the corresponding joint of the member to be rehabilitated;
    • an orthosis to hold the patient;
    • sensors capable of measuring both the parameters and the angular position, speed, force and torque of interaction between the actuator system and the member to be rehabilitated;
    • control electronics, to collect the measurement of the sensors and specifically the control in real time;
    • control algorithm for on-going assistance that takes into account the interaction torque between the patient and the actuator system in order to produce an adaptive reference for gait assistance; Y
    • a power supply, supplying the energy necessary for the operation of the assembly. Said power supply can be the installation itself or mains (in static mode) or it can be an autonomous, rechargeable or replaceable battery (in mobile / portable mode).
    It is also characterized in that, in particular, the actuator system is a mechanical transmission including, at a minimum, a motor and a planetary gear, with which a nominal torque is achieved in the joint of the member to be rehabilitated.
    It is also characterized because, in particular, the clamping brace includes, at a minimum,
    • two structure bars, mounted with the possibility of turning around the actuator; Y
    • two flanges, each associated to the respective structure bar.
    It is also characterized in that, in particular, at least one of said structure bars is telescopic, to fit different sizes or areas of the patient's body.
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    It is also characterized in that, in particular, the sensors include at least one absolute encoder, three Hall effect sensors and four force gauges.
    It is also characterized in that, in particular, the control electronics include, at a minimum, a main control board, a control board of the joint to be rehabilitated and another board to collect the measurement of the sensors.
    It is also characterized in that the power supply is a battery, in which case the robotic system object of the invention is mobile / portable, capable of traveling with the patient.
    In mobile / portable mode (that is, when the power supply is a battery) the robotic system object of the invention travels with the patient: accompanying the patient so that he receives just the necessary assistance to complete the natural capacity of his own movement when it is capable of walking by itself (even minimally) and, therefore, does not need everything but only a small torque; providing only that the necessary amount of torque to accompany you to complete your functional rehabilitation movements.
    Advantages the system object of the invention with respect to those known in the current state of the art are that:
    • It allows the rehabilitation process to be carried out anywhere: the patient can be rehabilitated, for example, while walking, without having to go to a health center or consult to perform exercises with a physical therapist;
    • It allows to shorten the final phase of rehabilitation: integrating the system into portable equipment improves the intentionality and motivation of the patient during the process to shorten the total rehabilitation time.
    • The new algorithm developed in the system object of the invention integrates the known control techniques in a hybrid control algorithm that has the stability of the adaptive trajectory control methodology, but with the flexibility of the admittance control whose differential characteristics are:
    ◦ It allows the rehabilitation of the knee during the patient's normal gait, following a natural gait pattern. It is an innovative product that does not exist to date and that can revolutionize the current methodology in the final stages of rehabilitation.
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    ◦ It offers the patient an assistance "only when he needs it", when currently the current devices offer an assistance based on an all or nothing. The current systems are dedicated exclusively to repeat the movements that a physiotherapist would perform in a session. invention only helps the movement in the section in which the patient cannot. If the patient can perform half of the movement, the system will assist him only in the other half. This implies an intentionality on the part of the patient that allows to accelerate the rehabilitation since the effort made is superior.In addition, the system is designed to rehabilitate on the fly, without having to go to the health center or to the consultation, with the consequent saving in time and money, in addition to the patient's mood factor; and
    ◦ The finished equipment is compact and lightweight, offering a very high torque in the joint to be rehabilitated.
    Other configurations and advantages of the invention can be deduced from the following description, and from the dependent claims.
    Description of the drawings
    In order to better understand the object of the invention, a preferred embodiment is shown in the attached figures, susceptible of accessory changes that do not distort its foundation. In this case:
    Figures 1a and 1b represent a general scheme of the robotic system for the assisted functional rehabilitation of joints object of the invention, with its integral basic components and the interconnection between them.
    In Figure 1a the system is extended. In, for example, a functional knee rehabilitation, this position would correspond to that of a standing patient.
    In Figure 1b the system is folded. In, for example, a functional knee rehabilitation, this position would correspond to that of a seated patient.
    Figure 2a represents an enlarged schematic perspective view of the system, in an extended position as in Figure 1a and with its basic components mounted for an exemplary embodiment.
    Figure 2b represents a schematic view similar to Figure 2a, with its basic components
    exploded in mounting arrangement for an exemplary embodiment.
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    Detailed description of a preferred embodiment
    An example of practical, non-limiting embodiment of the present invention is described below. Other embodiments in which accessory changes are introduced that do not distort its foundation are not ruled out at all.
    In accordance with the invention, the robotic system for the assisted functional rehabilitation of joints consists, as a minimum, of:
    - an actuator (1);
    - an orthosis (2);
    - sensors (3);
    - control electronics (4);
    - control algorithm (5); Y
    - a power supply (6).
    The actuator (1) acts as an adjuvant to the corresponding joint of the member to be rehabilitated. In an exemplary embodiment, the actuator (1) includes, for example, motor (11) of the Maxon EC-i 40 brushless flat type (power 100 watts, nominal torque 222 mNm) and a planetary gear (12) of the Harmonic type Drive (160: 1 transmission ratio). With this relationship a nominal torque of 35 Nm is achieved in the joint.
    The brace (2) is used to attach the equipment to the patient. In an exemplary embodiment shown, it includes at least two structure bars (21a), (21b) mounted with the possibility of rotating around the actuator (1); and flanged paths (22a), (22b), each associated with the respective structure bar (21a), (21b).
    It is included in the object of the invention that at least one of the aforementioned structure bars (21a), (21b) of the clamping brace (2) is telescopic, to fit different sizes or areas of the patient's body. According to the embodiment shown, one of the structure bars (21a) consists of two telescopic portions (211), (212) (with which the total length is variable), to adjust to different sizes or areas of the patient's body. In the embodiment shown, the portion (211) is guided in the portion (212) and can be moved in a straight line with respect to each other, as well as fixed in any relative position using, for example,
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    prisoners (213). It is indistinct and is included in the object of the invention that one or both structure bars (21a), (21b) are telescopic.
    The sensors (3) are capable of measuring both the parameters such as angular position, speed, force and interaction torque between the actuator (1) and the member to be rehabilitated. They control both speed and position (absolute encoder) and force (average intensity and strain gauges).
    In an exemplary embodiment, the sensors (3) include at least one absolute encoder, three Hall effect sensors and four force gauges that allow measuring parameters such as angular position, speed, force and the interaction torque between the system and joint of the patient to be rehabilitated.
    The control electronics (4), is able to collect the measurement of the sensors (3) and specifically the control in real time.
    In an exemplary embodiment, the control electronics (4) includes, at a minimum, a main control board, a joint control board and another plate to collect the measurement of the sensors (3); all designed for real-time control of the system.
    The control algorithm (5) for running assistance takes into account the interaction torque between the patient and the actuator (1) in order to produce an adaptive reference for walking assistance.
    In a portable device (which is the object of the invention when the power supply (6) is an autonomous battery, as described below), it is necessary that the patient care be just that necessary to complete the natural ability of the movement of the patient, providing only the necessary amount of torque. The control algorithm (5) developed takes into account the interaction torque between the patient and the robotic system, in order to produce an adaptive reference for gait assistance.
    Data storage is done, for example, via Bluetooth or Wi-Fi communication with a computer equipment.
    The power supply (6), supplies the energy necessary for the operation of the assembly.
    Said power supply can be the installation itself or mains (in static mode) or it can be an autonomous, rechargeable or replaceable battery (in mobile / portable mode).
    When said power supply (6) is an autonomous battery, it is made to the portable assembly, which can be moved with the patient. In one embodiment, the power supply (6) is a 22.5 volt lithium-ion battery with a capacity of 4 Ah.
    With this structuring, components and particularities, the system object of the invention offers two 5 protocols / modes of operation:
    a) Static mode
    • Programmable speed, from 40 ° / min to 160 ° / min.
    • Programmable speed increase, on a scale of 1 °.
    • Gradual increase in bending angle.
    10 • Programmable pauses (0 -60 sec).
    • Heating protocol.
    • Start / Stop / Reverse functions.
    • Session duration adjustment.
    b) Mobile mode
    15 • Assistance to the natural movement of the patient, providing the pair that the patient
    need in every moment.
    • Adjustable assistance level: it can be regulated on a scale from 1 to 10 (variable assistance control).
    • Adjustable speed: the maximum walking speed will be 4 km / hour.
    20 The materials, dimensions, proportions and, in general, those other accessory or secondary details that do not alter, change or modify the proposed essentiality may be variable.
    The terms in which this report is written are true and faithful reflection of the object described, and should be taken in its broadest sense and never in a limiting way.
    权利要求:
    Claims (7)
    [1]
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    1. - Robotized system for assisted functional rehabilitation of joints; characterized in that it consists of:
    a) an actuator (1) auxiliary to the corresponding joint of the member to be rehabilitated;
    b) an orthosis (2) to hold the patient;
    c) sensors (3) capable of measuring both the parameters such as angular position, speed, force and interaction torque between the system (1) and the member to be rehabilitated;
    d) control electronics (4), to collect the measurement of the sensors (3) and specifically the real-time control;
    e) control algorithm (5) for on-going assistance that takes into account the interaction torque between the patient and the system (1) in order to produce an adaptive reference for gait assistance; Y
    f) a power supply (6), supplying the energy necessary for the operation of the assembly.
    [2]
    2. - Robotized system according to claim 1, characterized in that the actuator (1) is a mechanical transmission that includes at least a motor (11) and a planetary gear (12), which achieves a nominal torque of rotation. in the joint of the member to rehabilitate.
    [3]
    3. - Robotized system, according to claim 1, characterized in that the clamping orthosis (2) includes at least two structure bars (21a), (21b) mounted with the possibility of turning around the actuator (1); and flanged paths (22a), (22b), each associated with the respective structure bar (21a), (21b).
    [4]
    4. - Robotized system, according to claim 3, characterized in that, at least one of said structure bars (21a), (21b) of the clamping orthosis (2) is telescopic, to adjust to different sizes or areas of the body of the patient.
    [5]
    5. - Robotized system according to claim 1, characterized in that the sensors (3) include at least one absolute encoder, three Hall effect sensors and four force gauges.
    [6]
    6. - Robotized system according to claim 1, characterized in that the control electronics (4) include, at least, a main control board, a joint control board and another plate to collect the measurement of the sensors (3) .
    [7]
    7. - Robotized system according to claim 1, characterized in that said power supply (6) is an autonomous battery, which makes the assembly portable, susceptible to
    Move with the patient.
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    同族专利:
    公开号 | 公开日
    WO2018178427A1|2018-10-04|
    ES2689218B1|2019-08-21|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    WO2013049658A1|2011-09-28|2013-04-04|Northeastern University|Lower extremity exoskeleton for gait retraining|
    US9775763B2|2012-12-19|2017-10-03|Intel Corporation|Adaptive exoskeleton, control system and methods using the same|
    WO2016180074A1|2015-05-11|2016-11-17|The Hong Kong Polytechnic University|Interactive exoskeleton robotic knee system|ES2773112A1|2019-01-09|2020-07-09|Gogoa Mobility Robots S L|PORTABLE ROBOTIZED SYSTEM FOR ASSISTED FUNCTIONAL REHABILITATION OF JOINTS |
    ES2799949A1|2019-06-19|2020-12-22|Gogoa Mobility Robots S L|Portable robotic device with functional electro-stimulation, for assisted rehabilitation of joints |
    法律状态:
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    优先权:
    申请号 | 申请日 | 专利标题
    ES201730499A|ES2689218B1|2017-03-30|2017-03-30|Robotized system for assisted functional rehabilitation of joints|ES201730499A| ES2689218B1|2017-03-30|2017-03-30|Robotized system for assisted functional rehabilitation of joints|
    PCT/ES2018/070054| WO2018178427A1|2017-03-30|2018-01-24|Robotised system for assisted functional joint rehabilitation|
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