PL432504A1 - Stacjonarny robot do rehabilitacji kończyn dolnych - Google Patents

Stacjonarny robot do rehabilitacji kończyn dolnych

Info

Publication number
PL432504A1
PL432504A1 PL432504A PL43250420A PL432504A1 PL 432504 A1 PL432504 A1 PL 432504A1 PL 432504 A PL432504 A PL 432504A PL 43250420 A PL43250420 A PL 43250420A PL 432504 A1 PL432504 A1 PL 432504A1
Authority
PL
Poland
Prior art keywords
front columns
columns
dimension
vertical
internal surfaces
Prior art date
Application number
PL432504A
Other languages
English (en)
Other versions
PL238036B1 (pl
Inventor
Grzegorz Piątek
Original Assignee
Prodromus Spółka Z Ograniczoną Odpowiedzialnością
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Prodromus Spółka Z Ograniczoną Odpowiedzialnością filed Critical Prodromus Spółka Z Ograniczoną Odpowiedzialnością
Priority to PL432504A priority Critical patent/PL238036B1/pl
Publication of PL432504A1 publication Critical patent/PL432504A1/pl
Priority to PCT/PL2021/000001 priority patent/WO2021141509A2/en
Priority to EP21714991.3A priority patent/EP4087527A2/en
Priority to CN202180019618.0A priority patent/CN117651541A/zh
Priority to US17/791,530 priority patent/US20230051898A1/en
Publication of PL238036B1 publication Critical patent/PL238036B1/pl

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0192—Specific means for adjusting dimensions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1619—Thorax
    • A61H2201/1621—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1623—Back
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1645—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user
    • A61H2201/1647—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user the anatomy of a particular individual
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0406—Standing on the feet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0425—Sitting on the buttocks
    • A61H2203/0431—Sitting on the buttocks in 90°/90°-position, like on a chair
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/80—Weight
    • A61H2230/805—Weight used as a control parameter for the apparatus

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

Na płaskiej platformie robota zamocowane są dwie pionowe kolumny przednie (2a, 2b) i dwie pionowe kolumny tylne (3a, 3b). Osadzone w prowadnicy poziomej kolumny przednie (2a, 2b) są symetrycznie przemieszczane przez mechanizm nastawy rozstawienia w zakresie obejmującym - położenie zsuniętych kolumn przednich (2a, 2b) na wymiar między ich powierzchniami wewnętrznymi równy szerokości wózka inwalidzkiego oraz położenie rozsunięcia na wymiar przy którym wymiar szerokości wózka inwalidzkiego występuje między nogami mechanicznymi (2.3a, 2.3b) zawieszonymi na kolumnach przednich (2a, 2b). Na powierzchniach wewnętrznych kolumn przednich (2a, 2b) znajdują się pionowe prowadnice z napędem śrubowym mechanizmu nastawy wysokości miednicy. Nogi mechaniczne (2.3a, 2.3b) obejmują z zewnątrz dolne kończyny pacjenta przez: zespoły prowadzenia miednicy - wymuszające w obu nogach mechanicznych (2.3a, 2.3b) symetrycznie naprzemienny ruch przegubów stawu biodrowego o trajektoriach zbliżonych do elipsy, oraz przez napędzane zespołami wychylnymi nastawne łączniki ud i podudzi oraz łączniki stóp. Kolumny tylne (3a, 3b) zamocowane są w rozstawieniu powierzchni wewnętrznych równym wymiarowi między zsuniętymi kolumnami przednimi (2a, 2b), ponad to mają prowadnice pionowe dwóch napędzanych symetrycznie ramion wysięgu (3.1), połączonych na górnych końcach przez wysięgnik zakończony poprzeczką z dwoma uchwytami (3.1.9) dla rąk pacjenta. W pionowej prowadnicy jednego z ramion wysięgu (3.1) zamocowany jest odchylny wspornik podpory plecowej (3.2). Wszystkie serwomotory napędzające ruchome elementy robota sterowane są sygnałami z oprogramowanego komputera wraz z kontrolą położenia i występujących sił przez czujniki pomiarowe.
PL432504A 2020-01-07 2020-01-07 Stacjonarny robot do rehabilitacji kończyn dolnych PL238036B1 (pl)

Priority Applications (5)

Application Number Priority Date Filing Date Title
PL432504A PL238036B1 (pl) 2020-01-07 2020-01-07 Stacjonarny robot do rehabilitacji kończyn dolnych
PCT/PL2021/000001 WO2021141509A2 (en) 2020-01-07 2021-01-06 Stationary automated device lor lower limb rehabilitation
EP21714991.3A EP4087527A2 (en) 2020-01-07 2021-01-06 Stationary automated device lor lower limb rehabilitation
CN202180019618.0A CN117651541A (zh) 2020-01-07 2021-01-06 下肢康复固定式自动装置
US17/791,530 US20230051898A1 (en) 2020-01-07 2021-01-06 Stationary automated device for lower limb rehabilitation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PL432504A PL238036B1 (pl) 2020-01-07 2020-01-07 Stacjonarny robot do rehabilitacji kończyn dolnych

Publications (2)

Publication Number Publication Date
PL432504A1 true PL432504A1 (pl) 2020-09-21
PL238036B1 PL238036B1 (pl) 2021-06-28

Family

ID=72561396

Family Applications (1)

Application Number Title Priority Date Filing Date
PL432504A PL238036B1 (pl) 2020-01-07 2020-01-07 Stacjonarny robot do rehabilitacji kończyn dolnych

Country Status (5)

Country Link
US (1) US20230051898A1 (pl)
EP (1) EP4087527A2 (pl)
CN (1) CN117651541A (pl)
PL (1) PL238036B1 (pl)
WO (1) WO2021141509A2 (pl)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114247095A (zh) * 2021-12-27 2022-03-29 河南大学淮河医院 一种神经康复的运动训练组合装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115715729B (zh) * 2022-11-30 2024-08-02 河北工业大学 一种移乘搬运式下肢康复机器人
CN116351009A (zh) * 2023-03-20 2023-06-30 河南翔宇医疗设备股份有限公司 一种下肢行走训练辅助支撑装置
MX2024003207A (es) * 2024-03-13 2025-10-01 Jesus Raul Beltran Ramirez Dispositivo de asistencia y apoyo para ejercitacion de extremidades inferiores
CN119279522A (zh) * 2024-11-25 2025-01-10 中国医学科学院北京协和医院 一种基于多维探测的骨筋膜室压力检测仪及测量方法

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CA2419907C (en) * 2000-08-25 2009-09-29 Healthsouth Corporation Powered gait orthosis and method of utilizing same
US9649243B2 (en) * 2008-01-07 2017-05-16 Lite Run, Inc. Body lift-assist walker device
TW201238583A (en) * 2011-03-31 2012-10-01 Hiwin Tech Corp Gait rehabilitation machine and usage method
KR101358943B1 (ko) * 2013-02-12 2014-02-07 한국과학기술연구원 보행 재활 로봇의 골반 지지 장치
PL224669B1 (pl) * 2014-02-11 2017-01-31 Prodromus Spółka Z Ograniczoną Odpowiedzialnością Urządzenie wspomagające zdolności ruchowe kończyn dolnych
CN104107131B (zh) * 2014-07-01 2016-03-30 西安交通大学 一种下肢外骨骼康复机器人的自适应支撑减重装置
CN107854281A (zh) * 2017-11-30 2018-03-30 湖南妙手机器人有限公司 下肢康复机器人
US10688010B2 (en) * 2018-01-02 2020-06-23 Free Bionics Taiwan Inc. Adjusting assembly and exoskeleton robot comprising the same

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114247095A (zh) * 2021-12-27 2022-03-29 河南大学淮河医院 一种神经康复的运动训练组合装置

Also Published As

Publication number Publication date
WO2021141509A8 (en) 2023-12-21
CN117651541A (zh) 2024-03-05
US20230051898A1 (en) 2023-02-16
WO2021141509A2 (en) 2021-07-15
PL238036B1 (pl) 2021-06-28
WO2021141509A3 (en) 2021-08-26
EP4087527A2 (en) 2022-11-16

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