JPS6345828B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides functional recovery training for patients who have motor paralysis due to disorders of the ankle joint in the human body, and in particular joint range of motion training aimed at expanding the range of motion of the joint. The present invention relates to an electric joint movement device used for training.

In general, many patients with joints do not simply suffer from joint-related diseases, but are also accompanied by systemic illnesses, resulting in physical and mental dysfunction, and their healing becomes complicated.

Currently, this functional recovery training is performed by medical professionals such as physical therapists through manual manipulation of each joint of the human body.

However, with manual treatment methods, it is difficult to maintain treatment continuously for a long period of time, and there are many constraints such as treatment time and frequency. It has been hoped that a joint movement device that can perform such movements would be developed.

In response to such requests, for example,
Publication No. 18556 (Utility Application No. 44-35642) discloses that a foot rest b is swingably attached to a back board a for supporting the patient's body as shown in FIG. A device is disclosed in which a patient's foot is placed and swung by a drive motor, and it is stated that the swivel angle can be adjusted according to the patient's correction range.

Also, Japanese Patent Publication No. 1987-28315
No. 128913) discloses an ankle joint functional recovery training device in which both foot plates d are swingably supported on a workbench c shown in Fig. 6, and in which the foot plates d are rocked by a foot plate drive mechanism. has been disclosed, making automatic treatment possible.

However, due to their configuration, all of these devices require fine treatment operations at the dorsiflexion point and buckling point during recovery training in the conventional manual treatment, that is, fine adjustment of the amount of movement and maximum flexion. Since there is no built-in mechanism for temporarily holding the body still at the point of elongation, the movement that is applied to the therapist is only a uniform reciprocating motion due to dorsiflexion and turning back at the buckling point, which causes the joints of the human body to The drawback was that effective treatments such as alleviation of abnormal muscle tension could not be carried out properly.

The present invention has been made to solve the above-mentioned problems, and is connected to a holding table that holds the lower leg above the ankle joint of the human body, and can be held stationary at the maximum bending point and extension point during exercise. Electric joint movement that can correct and treat joint disorders by applying a motion force suitable for the ankle joint of the human body to be treated through a movable part holder associated with a drive mechanism. The purpose is to provide equipment.

In order to achieve the above object, the present invention provides a holding table for holding the lower leg above the ankle joint of a human body; a movable part holder rotatably movable up and down about a rotation axis of the part; a driving means associated with the movable part holder and capable of vertically reversely moving the movable part holder; an angle adjuster that sets the movement angle of the movable part holder; an angle sensor associated with the joint rotation axis of the movable part holder; and an angle sensor that adjusts the driving force of the movable part holder; an operating force setting section for setting the maximum torque during movement of the holding body; a load amount detection section for converting the drive current value flowing through the drive means into a voltage value and detecting the voltage value; an AD (analog-digital) converter that converts voltage into a digital quantity; and a limit motion addition amount adjusting means, which is set in relation to the limit motion addition amount adjustment means, and is set in relation to the limit motion addition amount adjustment means, and is set to the movable part holder at a motion starting point or Exercise pausing means comprising a pausing timer for maintaining the state for a certain period of time during the limit exercise at the end point, and a pausing time setting device for setting the pausing time according to the pausing timer; the driving means and limit exercise addition amount adjustment; a control unit configured to centrally control an operating system and an instruction system between the means and the motion stopping means;
During the movement of the movable part holder, the movement angle of the movable part holder measured by the angle sensor matches the angle set by the angle adjuster, or the signal from the load amount detection section and the AD conversion section is determined. is converted into torque in the control unit, and when the torque value reaches the maximum torque set in the power setting unit, the movement of the moving part holder is stopped by the pause timer, and the movement of the moving part holder is stopped. During movement, the movement of the movable part holder is stopped by activation caused by the set value that is reached earlier among the set angle or set operating force, and the movable part is restarted after a pause period set by the pause time setting device. It is an object of the present invention to provide an electric joint movement device characterized by moving part holders in opposite directions.

Embodiments of the present invention will be specifically described below with reference to the accompanying drawings.

FIG. 1 is a schematic perspective view showing the overall configuration of the electric joint motion device according to the present invention, FIG. 2 is an explanatory diagram showing an overview of its drive mechanism, and FIG. 3 is a block diagram showing the control system of the device. , FIG. 4 is an explanatory diagram showing the state of use.

That is, in the figure, reference numeral 1 denotes a holding stand for holding the lower leg above the ankle joint of a human body, and the holding stand 1 is made of an elastic body so as to be able to hold the lower leg above the ankle joint of the human body. The bottom surface 1a is curved so that the upper leg can be placed still, and fixing bands 1b are attached so that it can be fixed from both sides.

Reference numeral 2 denotes a movable part holder installed adjacent to the front of the holding table 1. The holding table 2 receives movable parts including the joints of the human body, and holds the joints and their distal ends on both sides. The fixation bands 2a and 2b are attached so that the fixation bands 2a and 2b can be fixed from the center, and the proximal end 3 side is placed relative to the patient with an appropriate width so that the fixation bands 2a and 2b can be set to match or approximate the physiological joint axis of the patient who is being left stationary. The movable part holder has a convex shape 5 facing the proximal end, and is further provided with a housing space capable of holding the heel part at the distal end of the proximal end, and the distal end part 4 is bent upward in a substantially dogleg shape when viewed from the side. be.

As shown in FIG. 2, inside the movable part holder 2, there is a motor 19;
A movable part holder drive rack 8, etc., which is driven by the operation of the movable part holder and is controlled by a rack presser adjustment fitting 6, an over-motion stop switch 7, etc., is built-in. The part holder 2 performs movements such as vertical movement.

In this case, a joint rotation axis 9 provided at the upper part of one side of the protrusion 5 located at the base end 3 of the movable part holder 2
and the angle sensor 11 (see Fig. 1) attached to the upper part of the convex portion 5 on the opposing surface rotate together with this movement, and both are arranged coaxially, so that the following control system Movement for appropriate treatment according to the joint to be treated, which is accommodated in the holder 2 in a manner that coincides with or approximates the joint rotation axis 9 due to the linkage with C, i.e., centered around the joint rotation axis 9. Buckling and dorsiflexion movements, their temporary stationary holding function, and adjustment of the movement system based on the signal from the angle sensor 11 can be properly performed.

It should be noted that this device A has the following features except for one side 1C of the loading opening of the holding base 1 to which the lower leg above the human ankle joint is attached.
A frame F is installed on the outer surface thereof, and various functional bodies such as a drive mechanism are housed inside the frame F.

On the other hand, the control unit 20, control system C, etc. of the apparatus A according to the present invention have the configuration shown in FIG. You can proceed by doing this.

That is, in the figure, a dorsiflexion angle adjuster indicated by 12, and 1
The dorsiflexion angle and plantarflexion angle during exercise load are set according to the patient to be treated using the plantarflexion angle adjuster shown in 3.

This setting range is determined based on the range of motion of the ankle joint of the human body, and can be finely adjusted according to the correction range of the therapist.

Next, the dorsiflexion rest time setting device 14 and the plantar flexion rest time setting device 15, which set the rest times at the dorsiflexion point and the plantar flexion point, are used to set the respective rest times.

In other words, in the treatment of stroke hemiplegia, which is the root cause of human joint diseases, it is effective from a neurophysiological point of view to proceed with exercises that relieve abnormal muscle tension, and in particular, dorsiflexion and extension of this joint are effective. Adding a rest time, that is, a resting time as described above during a moving exercise increases the relaxation effect, so the lengthening and moving resting time is set depending on the degree of pathological abnormal muscle tension.

Next, the driving force of the movable part holder 2 is adjusted, the maximum torque during movement of the movable part holder 2 is set, and the operating force is adjusted to adjust the exercise addition to the joint muscles of the therapist. The setting section 16 is set.

The settings in this operating force setting section 16 are made so that treatment can be performed appropriately with operating forces that are appropriate for the patient's condition, and are taken into consideration to the extent that the therapist does not feel pain. When a maximum torque value is set and a limit motion is applied at the start point or end point of the movement of the movable part holding body 2 after the setting, the motion state is maintained for a certain period of time in cooperation with the pause timers 14a and 15a. , it is configured so that it can be held stationary.

Note that these treatment times are appropriately set by the treatment time setting device 18 in consideration of the pathological condition and the like.

When the operating switch 17 is pressed down after connection to the power supply 10 shown in FIG. 11 rotates, the movable part holder 2 first begins to move in the dorsiflexion direction.

That is, during this movement, the angle sensor 11
The output signal from the dorsiflexion angle is input to the comparison circuit 27, and when the dorsiflexion angle matches the dorsiflexion angle set by the dorsiflexion angle adjuster 12, the instruction system of the control unit 20, that is, the dorsiflexion pause timer 14a, temporarily stops the exercise, At the same time, this state is maintained stationary until the rest time set by the dorsiflexion rest time setting device 14 is reached by the rest operation of the rest timer 14a.

After the pause, the drive motor 19 is reversed to drive the movable part holder 2 in the plantar flexion direction, and the operation control during this movement is performed by the instruction system of the control unit 20, that is, the plantar flexion pause timer 15a. . That is, when the plantar flexion angle set by the plantar flexion angle adjuster 13 is reached, the exercise is temporarily stopped by the plantar flexion pause timer 15a, and at the same time, the plantar flexion pause time setting device 15 is set by the activation of the pause timer 15a. This state is held stationary until the specified pause time is reached.

Then, the dorsiflexion and plantarflexion movements are repeated again, and the number of times of these movements is input into the control section 20, and the value is input into the display 21.

Further, when the treatment time setting timer 22, which is started at the same time as the aforementioned operation switch 17 is pressed, reaches the treatment time set by the treatment time setting device 18, the control unit 2
0, the drive system such as the drive motor 19 is stopped, and a buzzer sounds to notify the end.

If you wish to stop the above operation midway, press the stop switch 23 shown, and the signal is input to the control section 20, and at the same time the control section 2
The drive of the motor 19 can be stopped by the instruction system C of 0.

Normally, the settings for each treatment item described above are basically performed before the exercise device A starts operating, but depending on the purpose, it is possible to change the settings even after the start of the operation.

For example, if the setting of the operating force is changed by adjusting the operating force setting unit 16 while the movable part holder 2 is in motion, a new torque value will be changed and set compared to the set torque value before the change. The control unit 20
This change value is incorporated as a new set torque value for 5 seconds from the time of change, and is transmitted to the display unit 21a. This torque value is also stored in the control unit 20, and the changed torque value is also subjected to the same process as described above. This allows the movable holding body 2 to move.

Note that the torque value immediately after the change is displayed for a period of about 5 seconds as described above, and thereafter the load torque value during operation is controlled to be displayed.

Further, changes to other set values can be performed in the same manner as the above changing operation. Further, the control unit 20 controls the drive motor 19 so that the movable part holder 2 is appropriately driven according to the set torque value.
It has a driving force control function.

That is, the drive motor 19 is composed of a DC electric mechanism, and the torque generated by it is proportional to the current value, so by controlling this current value, the driving force applied to the movable part holder 2 is set. Therefore, it is possible to drive the motor at a value lower than the current value.

On the other hand, the illustrated load amount detection section 23 extracts the drive current value flowing through the drive motor 19 as a voltage from both ends of a resistor inserted in series in the control circuit, and converts this into a digital amount in an AD (analog-digital) conversion section 24. After conversion, it is taken into the control unit 20,
The controller 20 converts the torque value into a torque value, compares this torque value with the set value set by the operating force setting unit 16, and if the torque value is less than the set value, the drive is continued, or , if it is above the set value, after checking the value by monitoring it for about 0.2 seconds, if it is still above the set value, the control section 20's instruction system C is activated.
to stop the drive. That is, since the torque of the drive source is generated against the load, an increase in the torque value indicates that the load has increased.

In other words, since the therapist is showing resistance in the movable part, the progress (drive) is stopped at that point so that no further force is applied.

Note that after stopping, the movable part holder 2 undergoes dorsiflexion,
In the same way as when the set dorsiflexion angle and plantarflexion angle are reached during buckling exercise, after the rest time set with the dorsiflexion angle rest time setting device 14 or the plantar flexion angle rest time setting device 15 is reached, the opposite movement is performed. Start driving in the direction.

At this time, when setting both the dorsiflexion and plantarflexion angle settings and the operating force settings, the drive mode is such that the drive mode stops by starting the set value that is reached early in the movement process, and temporarily stops. After a pause, that is, a stationary holding operation, a reversal operation is started.

The torque force caused by the drive of the motor 19 is expressed as the sum of the frictional force of each part of the drive system and the load torque, and the control unit 20 subtracts the friction torque from the load torque and displays the result on the display unit 21a. By knowing the torque value displayed on the display unit 21a, it is possible to objectively evaluate the degree of abnormal muscle tension in the joints of the therapist.

In this way, the load amount of paralyzed human joint muscle tension resistance load that occurs when the movable part holding body 2 moves is detected by the load amount detection unit 23, etc., and the control unit 20 converts it into a torque value and displays it on the display unit 21a. By checking this display, it is possible to confirm the degree of abnormal muscle tension of the therapist. From this display situation, for example, the amount of additional dorsiflexion and plantar flexion movement and its turning point can be determined at a predetermined value within the preset range. It is now possible to perform localized treatment that corresponds to the patient's condition by randomly changing the classification as appropriate. Therefore, unlike conventional devices, it is possible to perform a uniform reciprocating motion repeatedly within a set range. ,
Treatment can be performed using movements that are similar to manual treatment methods that allow minute manipulations depending on the disease state.

The load amount detection section 23 not only operates to add an appropriate amount of exercise to the therapist, but is also arranged with safety in mind.

For example, when it is detected that the motion of the movable part holder 2 has become overloaded due to a failure of the operating force setting section 16, this signal is sent to the overload detection section 25.
This load amount is detected, and an abnormal value detection signal is sent to the control unit 20 to stop the drive of the movable part holder 2 in an emergency.

Further, the load amount detection section 23 and the overload detection section 25
In the case of a failure in the control signal system, the overdrive stop switch 26 is activated at this point to cut off the drive current of the motor 19 and prevent an accident.
A signal is directly sent to the control unit 20 and a buzzer sounds to notify everyone that a failure has occurred.

In addition, a hand-held emergency stop switch 28 is provided and connected to the control unit 20 so that the therapist can immediately stop the exercise if he or she feels pain for some reason.

In this way, the electric joint motion device A according to the present invention
has multiple safety mechanisms and takes every possible measure to prevent accidents.

In addition, in the description of the above embodiment, the angle adjuster 1
2 and 13 are two-body settings for dorsiflexion and plantarflexion,
Although the pause time setters 14 and 15 were also composed of two,
This can be simplified by adopting settings such as a combination of function keys and 10 keys, and
Similarly, two examples are shown for the pause timers 14a and 15a, but it is possible to use one for both purposes.

Thus, as shown in FIG. 4, when treating the ankle joint, the lower leg above the ankle joint of the therapist is held on the holding table 1 as shown in the figure, and the joint in front of the lower leg, that is, the physiological The movable part including the joint part is accommodated in the holder 2 so that the joint axis of the target part coincides with or approximates the rotation axis 9 of the movable part holder 2 adjacent to the front of the holder 1, and It is driven by a driving means or the like to apply motion to the joint muscles of the patient to provide treatment.

As described above, the electric joint movement device according to the present invention is installed in front of a holding table that holds the lower leg above the ankle joint in order to correct deformation and contracture of the ankle joint of the human body. Accepts movable parts including joints,
Further, a limit motion addition amount adjusting means is provided on a movable part holder associated with the driving means, and a limit motion addition state at a motion start point or an end point of the movable part holder is constant in relation to the adjustment means. Since it is systemically equipped with timers and the like to last a certain amount of time, it is possible to apply appropriate exercise to each joint of the human body that is tailored to the condition of each individual therapist, and also to Even in this case, it is possible to easily fine-tune the amount of exercise added to the muscles of the joint by the therapist.

In addition, the timer operation system allows the state to be maintained for a certain period of time when the limit motion is applied to the movable part holder at the start or end point of the motion, making it possible to effectively treat abnormal muscle tension in human joints, etc. In joint range of motion training aimed at expanding the joint range of motion, the movements are similar to minute rocking motions performed manually by a physical therapist, occupational therapist, or the like. Since this exercise can be performed continuously for a predetermined period of time, it can be provided to medical institutions as a suitable device for treating joints of the human body.

[Brief explanation of the drawing]

FIG. 1 is a schematic perspective view showing the overall configuration of the electric joint motion device according to the present invention, FIG. 2 is an explanatory diagram showing the schematic configuration of the drive mechanism in the device, and FIG. 3 is a block diagram showing the control system of the device. FIG. 4 is an explanatory diagram showing a treatment state of an ankle joint, and FIGS. 5 and 6 are explanatory diagrams each showing an outline of a conventional electric joint motion device. 1...Holding stand, 2...Movable part holder, 3...
Base end, 4...Distal end, 5...Protrusion, 6...Rack presser adjustment fitting, 7...Over-motion stop switch, 8...
... Drive rack, 9 ... Joint rotation axis, 10 ... Power supply, 11 ... Angle sensor, 12 ... Dorsiflexion angle adjuster, 13 ... Plantar flexion angle adjuster, 14 ... Dorsiflexion rest time setting device , 15...plantar flexion rest time setting device, 1
6... Operating force setting device, 17... Operating switch, 1
8...Treatment time setting device, 19...Drive motor, 2
0...Control unit, 21...Display device, 22...Treatment time setting timer, 23...Load amount detection unit, 24...
...AD conversion section, 25... Overload detection section, 26...
Hyperdynamic motion stop switch, 27... Comparison circuit, A...
...Electric joint motion device, C...Control (instruction) system.

Claims (1)

[Scope of Claims] 1. A holding table for holding the lower leg above the ankle joint of a human body; a movable part holder rotatable up and down about a center; a driving means associated with the movable part holder and capable of vertically reversely moving the movable part holder; and the movable part holder an angle adjuster that sets the movement angle of the movable part holder, an angle sensor associated with the joint rotation axis of the movable part holder, and an angle sensor that adjusts the driving force of the movable part holder, an operating force setting section for setting the maximum torque at a given time; a load amount detection section that converts and detects the drive current value flowing through the drive means into a voltage value; and a load amount detection section that converts the voltage detected by the load amount detection section into a digital quantity AD to convert to
(Analog/Digital) converter; and a limit motion add amount adjusting means, which is set in relation to the limit motion add amount adjusting means, and is set in relation to the limit motion add amount adjusting means, and when the movable part holder is subjected to a limit motion at a motion start point or an end point. between an exercise pause means comprising a pause timer for maintaining the state for a certain period of time and a pause time setting device for setting the pause time according to the pause timer; and between the drive means, the limit exercise addition amount adjusting means, and the exercise pause means. a control unit that centrally controls an operation system and an instruction system; or when the signal from the load amount detection unit and AD conversion unit is converted into torque by the control unit and the torque value reaches the maximum torque set in the power setting unit, the stop timer is activated to stop the movable part. By stopping the movement of the holding body, when the moving part holding body is moving, the movement of the moving part holding body is stopped by activation caused by the set value that is reached earlier among the set angle or the set operating force,
An electric joint movement device characterized in that the movable part holder is moved in the opposite direction again after a pause period set by a pause time setting device.