WO2021129321A1 - 镜像治疗装置及镜像治疗系统 - Google Patents

镜像治疗装置及镜像治疗系统 Download PDF

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Publication number
WO2021129321A1
WO2021129321A1 PCT/CN2020/132949 CN2020132949W WO2021129321A1 WO 2021129321 A1 WO2021129321 A1 WO 2021129321A1 CN 2020132949 W CN2020132949 W CN 2020132949W WO 2021129321 A1 WO2021129321 A1 WO 2021129321A1
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Prior art keywords
mirror image
transmission
positioning component
treatment device
limb
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Ceased
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PCT/CN2020/132949
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English (en)
French (fr)
Inventor
田恬
高志军
王红梅
周铜
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Shentai Medical Technology Shanghai Co Ltd
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Shentai Medical Technology Shanghai Co Ltd
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Priority to EP20907834.4A priority Critical patent/EP4062887A4/en
Priority to US17/788,559 priority patent/US20230032645A1/en
Publication of WO2021129321A1 publication Critical patent/WO2021129321A1/zh
Anticipated expiration legal-status Critical
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Definitions

  • the present invention relates to the technical field of medical equipment, in particular to a mirror image treatment device and a mirror image treatment system.
  • upper limb function is particularly important, because upper limb function is closely related to the patient's ADL (that is, the ability of daily living), and whether the upper limb function is restored is directly related to the patient's quality of life and social recovery.
  • Mirror therapy also known as mirror visual feedback therapy
  • Ramachandran and other researchers in 1995 and applied to rehabilitation medicine practice and neuroscience research. It mainly uses a mirror to separate the patient's healthy side from the affected arm. When the patient moves the healthy side of the hand, according to the mirrored arm, it is assumed that the affected side's hand is actually moving to promote the patient's nerve recovery.
  • the purpose of the present invention is to provide a mirror image treatment device and a mirror image treatment system, which can solve the problem that the traditional mirror image treatment method only has a single visual stimulation, and there is no kinesthetic and proprioceptive stimulation.
  • the present invention provides a mirror image therapy device, which includes a first positioning component, a second positioning component, and a transmission component connecting the first positioning component and the second positioning component;
  • the first positioning component and the second positioning component are arranged opposite to each other and both are capable of reciprocating movement.
  • the first positioning component is used for positioning the patient's healthy side limb, and the second positioning component is used for the patient's affected limb The positioning;
  • the transmission component is used for transmission between the first positioning component and the second positioning component, so that the second positioning component and the first positioning component move synchronously.
  • the first positioning component includes at least one first finger ring
  • the second positioning component includes at least one second finger ring
  • the first finger ring and the second finger ring are arranged in a one-to-one correspondence
  • the transmission component It includes at least one set of transmission parts, and the correspondingly arranged first finger ring and the second finger ring maintain synchronous movement through the correspondingly arranged transmission parts.
  • the transmission member includes a transmission rope capable of reciprocating movement, the two ends of the transmission rope are connected to form a loop, the first ring is installed on the first rope section of the transmission rope, and the first Two finger rings are installed on the second rope section of the transmission rope so that the movement state of the first rope section where the first finger ring is installed is consistent with the movement state of the second rope section where the second finger ring is installed .
  • a first included angle is provided between the first rope section where the first finger ring is installed and the horizontal plane
  • a first angle is provided between the second rope section where the second finger ring is installed and the horizontal plane.
  • Two included angles, the first included angle and the second included angle are both greater than 0° and less than 90°.
  • the first finger ring includes a first ring body and a first connecting member that are connected
  • the second finger ring includes a second ring body and a second connecting member that are connected
  • the transmission rope includes a first transmission rope body And a second transmission rope body, one end of the first transmission rope body is connected to the first ring body, the other end is connected to the second connecting member, and one end of the second transmission rope body is connected to the second ring body.
  • the ring body is connected, and the other end is connected with the first connector.
  • the transmission member further includes a plurality of first guide members and a plurality of second guide members, the plurality of first guide members are arranged corresponding to the first ring, and the plurality of second guide members are connected to the The second ring is correspondingly arranged, the transmission rope is wound on the plurality of first guides and the plurality of second guides in turn to form the loop, and the transmission rope can be relative to the first The guide and the second guide reciprocate.
  • the first guide and the second guide are both pulleys.
  • the mirror image therapy device further includes at least one displacement sensor, the displacement sensor is arranged corresponding to the transmission rope, and the displacement sensor is used to measure the displacement of the transmission rope.
  • the displacement sensor is a photoelectric displacement sensor, and a marker corresponding to the displacement sensor is provided on the transmission rope.
  • the mirror image treatment device further includes a first support pad for supporting the uninvolved limb and a second support pad for supporting the affected limb, the first support pad being arranged corresponding to the first positioning assembly , The second supporting pad and the second positioning component are correspondingly arranged.
  • a first concave surface is provided on the side of the first support pad for contact with the unaffected limb
  • a second concave surface is provided on the side of the second support pad for contact with the affected limb.
  • the mirror image treatment device further includes at least one first camera and at least one second camera, the first camera and the first positioning component are arranged correspondingly, the second camera and the second positioning component Corresponding settings.
  • the mirror image treatment device further includes an illuminating lamp.
  • the mirror image treatment device further includes a box body with a cavity inside the box body, and the first positioning component, the second positioning component, and the transmission component are all located in the cavity .
  • the box body includes a supporting frame, and a first side plate, a second side plate, a top plate, a back plate, and a bottom plate installed on the supporting frame.
  • a gap is provided between the bottom plate and the bottom of the supporting frame, and the bottom plate is suspended upward relative to the bottom of the supporting frame.
  • the box body further includes a front panel mounted on the support frame, the front panel is arranged opposite to the back panel, and the front panel is provided with a first opening for the healthy limb to pass through And the second opening through which the limb of the affected side passes, the first opening is arranged corresponding to the first positioning assembly, and the second opening is arranged corresponding to the second positioning assembly.
  • the present invention also provides a mirror image therapy system, including the above-mentioned mirror image therapy device and a display, and the display is used to display motion images of the uninfected limb and the affected limb.
  • the mirror image treatment device and mirror image treatment system provided by the present invention have the following advantages:
  • the mirror image treatment device includes a first positioning component, a second positioning component, and a transmission component connecting the first positioning component and the second positioning component; the first positioning component and the second positioning component
  • the positioning components are arranged relative to each other and both can reciprocate.
  • the first positioning component is used for positioning the patient's unhealthy limb
  • the second positioning component is used for positioning the patient's affected limb
  • the second positioning components are transmitted through the transmission component, and under the action of the transmission component, the second positioning component can move synchronously with the first positioning component.
  • the uninjured limb can drive the affected limb under the action of the transmission assembly, so that the uninfected limb can synchronously repeat the same actions as the uninjured limb, so that the patient's vision can be established.
  • Kinesiology and proprioception are connected to the healthy and affected side to better stimulate the patient's nerve recovery, which solves the problem of traditional mirror therapy with only single visual stimulation, no kinesthetic and proprioceptive stimulation.
  • the mirror image treatment device provided by the present invention uses a transmission rope as a transmission part, eliminating the motor transmission system, which not only can effectively reduce the production cost of the mirror image treatment device, but also can ensure the synchronization of the movement of the affected limb and the uninfected limb. It effectively avoids the unsynchronized movement of the affected limb and the uninvolved limb due to the inaccuracy and delay of signal detection.
  • the mirror image treatment device provided by the present invention uses pulleys as the guide of the transmission rope, which can not only effectively reduce the friction of the transmission rope and reduce the discomfort of the patient during limb training, but also can further ensure that the affected limbs are in contact with each other. Synchronization of the uninvolved limb movement.
  • the mirror image therapy device uses a photoelectric displacement sensor to measure the movement displacement of the transmission rope. Compared with the traditional inertial sensor, the response speed and measurement accuracy are higher, and the photoelectric displacement sensor is not prone to zero drift, which is reliable It is more flexible and can measure the movement of the limbs in real time, which provides a basis for fun rehabilitation.
  • the mirror image treatment device provided by the present invention can collect the movements of the uninfected limb in real time through the first camera, and collect the movements of the affected limb in real time through the second camera, and further process the collected images through the image compensation algorithm to remove The first positioning component, the second positioning component, and the transmission component in the image prevent the patient from understanding the transmission mechanism, so as to further improve the "realism" of mirror treatment.
  • the difference in the sense of touch that the patient feels during transmission can be compensated by increasing the immersion of the fun training, so as to better promote the patient's nerve recovery.
  • the mirror image treatment system provided by the present invention includes the above-mentioned mirror image treatment device, it has all the advantages of the above-mentioned mirror image treatment device.
  • the mirror image therapy system provided by the present invention drives the movement of the affected limb through the uninjured limb, so that the uninfected limb can repeat the same actions as the uninjured limb, thereby establishing the patient's vision, kinesthesia, and proprioceptive nerve recovery, which can be better Stimulate the patient’s nerve recovery.
  • Fig. 1 is a schematic diagram of the overall structure of a mirror image treatment device according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a partial structure of a mirror image treatment device according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of the connection relationship among the first positioning component, the second positioning component, and the transmission component in the mirror image treatment device according to an embodiment of the present invention
  • Fig. 4 is a schematic structural diagram of a transmission relationship between a set of first finger rings and a second finger ring in a mirror image treatment device according to an embodiment of the present invention.
  • the terms “installed”, “connected”, “connected”, and “fixed” should be interpreted broadly, for example, it may be a fixed connection or a detachable connection , Or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components.
  • installed should be interpreted broadly, for example, it may be a fixed connection or a detachable connection , Or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components.
  • the "above” or “below” of the first feature of the second feature may include direct contact between the first and second features, or may include the first and second features Not in direct contact but through other features between them.
  • “above”, “above” and “above” the second feature of the first feature include the first feature being directly above and obliquely above the second feature, or it simply means that the level of the first feature is higher than the second feature.
  • the “below”, “below” and “below” the first feature of the second feature include the first feature directly below and obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.
  • the core idea of the present invention is to provide a mirror image treatment device and a mirror image treatment system to solve the problem that the traditional mirror image treatment method only has a single visual stimulation, and there is no kinesthetic and proprioceptive stimulation.
  • the present invention provides a mirror image treatment device, please refer to Figures 1 to 3, wherein Figure 1 schematically shows the overall structure of the mirror image treatment device provided by an embodiment of the present invention; Figure 2 is a schematic diagram A schematic diagram of a partial structure of a mirror image treatment device provided by an embodiment of the present invention is given; FIG. 3 schematically shows the first positioning component, the second positioning component, and the transmission in the mirror image treatment device provided by an embodiment of the present invention. Schematic diagram of the connection structure between the components. As shown in Figures 1 to 3, the mirror image treatment device includes a first positioning component (not marked in the figure), a second positioning component (not marked in the figure), and connecting the first positioning component and the second positioning component. The transmission component of the component (not marked in the figure).
  • the first positioning component and the second positioning component are arranged oppositely and both can reciprocate, the first positioning component is used for positioning the patient's healthy side limb, and the second positioning component is used for the patient suffering from Positioning of the side limbs; the first positioning component and the second positioning component are transmitted through the transmission component, and under the action of the transmission component, the second positioning component can be connected to the first positioning component
  • the components move synchronously.
  • the patient first places the uninvolved limb and the affected limb on the first positioning assembly and the second positioning assembly respectively, and then the uninhibited limb starts to move. Under the action of the transmission assembly, the second positioning assembly can interact with each other.
  • the first positioning component moves synchronously, so that the affected limb can repeat the same actions as the unaffected limb.
  • hand rehabilitation during hand rehabilitation, the patient first places the healthy hand and the affected hand on the first positioning component and the second positioning component, respectively, and then performs a flexion exercise on the healthy hand to drive the second hand.
  • a positioning component moves.
  • the second positioning component moves synchronously with the first positioning component, thereby causing the affected hand to perform a flexion movement synchronously.
  • the uninvolved hand performs a posterior extension exercise
  • the affected hand is synchronized to do a posterior extension exercise.
  • the rehabilitation object may also be a body other than the hand, which is not covered by the present invention. limit.
  • the uninjured limb can drive the affected limb under the action of the transmission assembly, so that the uninfected limb can synchronously repeat the same actions as the uninjured limb, so that the patient's vision can be established.
  • Kinesiology and proprioception are connected to the healthy and affected side to better stimulate the patient's nerve recovery, which solves the problem of traditional mirror therapy with only single visual stimulation, no kinesthetic and proprioceptive stimulation.
  • the mirror image treatment device further includes a box 700 with a cavity provided in the box 700, the first positioning assembly, the second positioning assembly and the second positioning assembly. Both the positioning component and the transmission component are located in the cavity. Therefore, the first positioning assembly, the second positioning assembly, and the transmission assembly can be installed in the cavity of the box 700 to facilitate operation and at the same time, to facilitate the mirror treatment device. Carry.
  • the first positioning assembly, the second positioning assembly, and the transmission assembly in the cavity inside the box 700, it is easier to shield the transmission assembly, prevent the patient from understanding the principle of rehabilitation transmission, and improve The "realism" of mirror therapy further enhances the patient's nerve recovery of motor and proprioception.
  • the component on the left side shown in Figures 1 and 2 is used as the first positioning component, and the component on the right side is used as the second positioning component.
  • the opposite can also be set, with the left The component on the side serves as the second positioning component, and the component on the right serves as the first positioning component.
  • the box 700 includes a supporting frame 710, and a first side plate 720, a second side plate 730, a top plate 740, a back plate 750, and a first side plate 720, a second side plate 730, a top plate 740, and a back plate 750 installed on the supporting frame 710.
  • Floor 760 By setting the box 700 to include the supporting frame 710, the first side plate 720, the second side plate 730, the top plate 740, the back plate 750, and the bottom plate 760 can be installed on the supporting frame respectively.
  • the left, right, top, back and bottom surfaces of the 710 can quickly complete the assembly of the box 700.
  • this structure arrangement is more convenient for the installation of the first positioning assembly, the second positioning assembly and the transmission assembly.
  • the first side plate 720, the second side plate 730, the top plate 740, the back plate 750, and the bottom plate 760 can be installed on the supporting frame 710 by fasteners. More preferably, the first side plate 720, the second side plate 730, the top plate 740, the back plate 750, and the bottom plate 760 can be installed on the supporting frame 710 by threaded fasteners.
  • a gap is provided between the bottom plate 760 and the bottom of the supporting frame 710, and the bottom plate 760 is suspended upwardly relative to the bottom of the supporting frame 710.
  • the bottom of the supporting frame 710 is provided with a plurality of supporting members 711, and the bottom plate 760 is erected on the supporting member 711 so that the bottom plate 760 is suspended upward relative to the bottom of the supporting frame 710. Because, the first positioning component and the second positioning component are installed in the cavity, and the cavity is composed of the first side plate 720, the second side plate 730, the top plate 740, the back plate 750 and the bottom plate.
  • the cavity can be moved upward as a whole, so that the height of the first positioning component and the second positioning component is Move up as a whole, which is more convenient for the patient to place the uninvolved limb and the affected limb, and is more convenient for operation.
  • the space between the bottom plate 760 and the bottom of the supporting frame 710 can also be used to accommodate some parts of the first positioning assembly, the second positioning assembly and the transmission assembly.
  • the box 700 further includes a front panel 770 installed on the support frame 710, the front panel 770 is arranged opposite to the back panel 750, and the front panel 770 is provided with There is a first opening 771 for the uninvolved limb to pass through and a second opening 772 for the affected limb to pass through.
  • the first opening 771 is arranged corresponding to the first positioning component, and the second opening 772 Corresponding to the second positioning component.
  • the box 700 also includes a front panel 770, the front panel 770 can play a role of shielding. During rehabilitation, there is no need to provide additional shields to shield the transmission components, thereby further The treatment effectiveness of the mirror image treatment device provided by the present invention and the convenience during use are improved.
  • the front panel 770 is provided with a first opening 771 for the healthy limb to pass through and a second opening 772 for the affected limb to pass through, the patient can pass through the
  • the first opening 771 extends the uninvolved limb into the inside of the box 700, and extends the affected limb into the inside of the box 700 through the second opening 772, which is more convenient for operation.
  • the box 700 may also have a structure that does not include the support frame 710, that is, the box 700 is composed of a first side plate 720, a second side plate 730, and a front The front panel 770, the back panel 750, the top panel 740 and the bottom panel 760 are enclosed.
  • the mirror image treatment device further includes a first support pad 510 for supporting the uninvolved limb and a second support pad 520 for supporting the affected limb.
  • the first support The pad 510 is arranged corresponding to the first positioning component
  • the second supporting pad 520 is arranged corresponding to the second positioning component. Therefore, by providing the first support pad 510 and the second support pad 520, during rehabilitation, the patient can put at least a part of the unaffected limb on the first support pad 510, and place at least a part of the affected limb on the first support pad 510.
  • the first support pad 510 and the second support pad 520 respectively support the uninvolved limb and the affected limb, effectively reducing the patient’s burden in rehabilitation treatment.
  • the feeling of fatigue further improves the healing effect.
  • the patient can put the wrist of the contralateral hand on the first support pad 510 and the wrist of the affected hand on the second support pad 520. Therefore, the first support pad 510 and the second support pad 520 respectively support the wrist of the uninvolved hand and the wrist of the affected hand, so as to better help the patient to perform hand rehabilitation.
  • the first support pad 510 and the second support pad 520 are both connected to the bottom plate 760 of the box 700. There is a certain gap therebetween, that is, the first supporting pad 510 and the second supporting pad 520 are both suspended relative to the bottom plate 760.
  • the support frame 710 is provided with a first support post 712 for fixing the first support pad 510 and a first support post 712 for fixing the first support pad 510.
  • the second support post 713 of the second support pad 520, the first support pad 510 can be installed on the first support post 712 by fasteners, and the second support pad 520 can be installed on the first support post 712 by fasteners.
  • the fastener is a threaded fastener.
  • the bottom plate 760 is provided with a first notch 761 that is matched with the first support column 712 and the second support column. 713 matches the second gap 762.
  • the side of the first support pad 510 used to contact the uninvolved limb is provided with a first concave surface 511, and the second support pad 520 is used to contact the affected limb.
  • the contacting side is provided with a second concave surface 521.
  • the first supporting pad 510 is provided with a first concave surface 511
  • the second supporting pad 520 is provided with a second concave surface 521
  • it can not only better support the uninvolved limb and the affected limb, but also Moreover, it can play a good positioning effect on the uninvolved limb and the affected limb, so that the patient can more conveniently place the uninfected limb on the first positioning component and the affected limb on the second positioning component.
  • the mirror image treatment device further includes at least one first camera 610 and at least one second camera 620, the first camera 610 is arranged corresponding to the first positioning component, and the second The camera 620 is arranged corresponding to the second positioning component.
  • the first camera 610 can automatically collect the movements of the uninvolved limb in real time
  • the second camera 620 can automatically collect the movements of the affected limb in real time, which can not only be used to realize real-time display of limb movements, but also more convenient for operation.
  • both the first camera 610 and the second camera 620 are installed on the top plate 740 of the box 700. It should be noted that, as those skilled in the art can understand, the first camera 610 and the second camera 620 can also be installed on the back panel 750, the front panel 770, and the first camera of the box 700 according to actual needs.
  • the present invention does not limit the specific installation positions of the first camera 610 and the second camera 620.
  • the mirror image therapy device only includes one camera, and the field of view of the camera covers the first positioning component and the second positioning component, which can further avoid the display of images taken by multiple cameras. There may be an out-of-sync problem.
  • the top plate 740 of the box 700 is provided with a first through hole 741 corresponding to the first camera 610 and a first through hole 741 corresponding to the second camera 620. Second through hole 742.
  • the mirror image treatment device further includes an illuminating lamp (not shown in the figure). Therefore, by installing the illuminating lamp, it can play the role of supplementary light.
  • the box 700 includes a front panel 770, a back panel 750, a top panel 740, a bottom plate 760, a first side panel 720, and a second side panel 730, since the internal light of the box 700 is relatively dark, Therefore, by providing the illuminating lamp, the brightness inside the box 700 can be increased, and the shooting effect of the first camera 610 and the second camera 620 can be improved.
  • the illuminating lamp is an LED lamp.
  • the brightness inside the box 700 can be further improved, thereby further improving the shooting effects of the first camera 610 and the second camera 620, so that The images collected by the first camera 610 and the second camera 620 are more clearly visible.
  • the first positioning component includes at least one first finger ring 100
  • the second positioning component includes at least one second finger ring 200.
  • the two finger rings 200 are arranged in one-to-one correspondence.
  • the transmission assembly includes at least one set of transmission elements.
  • the correspondingly arranged first ring 100 and the second finger ring 200 maintain synchronous movement through the correspondingly arranged transmission elements. Since the first positioning component includes at least one first finger ring 100, the second positioning component includes at least one second finger ring 200, and each set of correspondingly disposed first finger ring 100 and second finger ring 200 passes through a set of transmission The components are driven to keep the correspondingly arranged first finger ring 100 and second finger ring 200 in synchronized movement.
  • the mirror image treatment device provided by the present invention can better realize the rehabilitation treatment of the patient's finger.
  • the patient can insert the finger on the affected side that needs rehabilitation into the second finger ring 200, so that the second finger ring 200 will tighten the finger on the affected side and set the uninfected finger corresponding to the finger on the affected side.
  • the finger is inserted into the first finger ring 100, so that the first finger ring 100 can tighten the finger of the contralateral side.
  • the first knuckle of the contralateral finger and the first knuckle of the affected finger can be The knuckles are inserted into the first finger ring 100 and the second finger ring 200 respectively.
  • the uninvolved finger makes a flexion movement
  • the first finger ring 100 is pressed down, and under the action of the transmission member, the second finger ring 200 is also pressed down synchronously, thereby causing the disease Synchronous flexion movement of the side finger;
  • the first ring 100 moves upward, and under the action of the transmission member, the second ring 200 also moves upward synchronously, so that the affected side finger does the extension exercise synchronously .
  • the first positioning assembly includes five first finger rings 100, and the five first finger rings 100 are respectively used for tightening The thumb, index finger, middle finger, ring finger, and little finger of the patient’s unaffected hand.
  • the second positioning assembly includes five second finger rings 200, and the five second finger rings 200 are respectively used to tighten the thumb, index finger, middle finger, ring finger and little finger of the patient's affected hand.
  • the transmission assembly includes five sets of transmission parts, the five sets of transmission parts are respectively used for the transmission between the thumb of the healthy side and the thumb of the affected side, the transmission between the index finger of the healthy side and the index finger of the affected side, and the middle finger of the healthy side and the affected side.
  • a first glove 810 (not fully shown in the figure) for covering the first ring 100 and a glove for The second glove 820 (not fully shown in the figure) where the second ring 200 is fitted.
  • the five first finger rings 100 are respectively sleeved on the first knuckles of the five fingers of the first glove 810, and the second finger rings 200 are respectively sleeved on the second hand.
  • the wrist of the first glove 810 rests on the first support pad 510, and the wrist of the second glove 820 rests on the second On the support pad 520. Therefore, during rehabilitation, the patient only needs to put the uninvolved hand into the first glove 810 and the affected hand into the second glove 820, and then the first finger ring 100 can be worn on Wearing the second ring 200 on the fingers of the uninvolved hand on the fingers of the affected hand makes it easier to operate.
  • FIG. 4 schematically shows a structure diagram of the transmission relationship between a set of first ring 100 and second ring 200 in a mirror image treatment device according to an embodiment of the present invention
  • the arrow in the figure indicates the movement direction of each rope segment in the transmission rope 310 when the uninvolved finger performs a flexion movement.
  • the transmission member includes a transmission rope 310 capable of reciprocating movement. The two ends of the transmission rope 310 are connected to form a loop.
  • the first ring 100 is installed on the transmission rope 310.
  • the second finger ring 200 is installed on the second rope segment 312 of the transmission rope 310, and the movement state of the first rope segment 311 on which the first finger ring 100 is installed is different from that of the The movement state of the second rope segment 312 of the second finger ring 200 is consistent.
  • the movement state includes movement direction, movement distance, movement time, start and end of movement, and so on.
  • two holes may be provided on the first ring 100 and the second ring 200, and the transmission rope 310 may be fixedly connected to the two holes, respectively, to connect the first ring 100 and the second ring 200.
  • the second finger ring 200 is firmly installed on the transmission rope 310.
  • the present invention uses the transmission rope 310 as the transmission component, eliminating the motor transmission system, which not only can effectively reduce the production cost of the mirror image treatment device, but also can ensure the synchronization of the movement of the affected limb and the uninfected limb, which effectively avoids The inaccuracy and delay of signal detection occur when the movement of the affected limb and the uninvolved limb are not synchronized.
  • the transmission rope 310 has a certain pre-tightening force to make the transmission rope 310 Keep tight during use.
  • the transmission rope 310 Since the friction and ductility of the transmission rope 310 have a great impact on the rehabilitation treatment effect of the patient’s fingers, in order to further reduce the friction, the transmission rope 310 is made of a material with a smaller friction coefficient, and the transmission rope 310 is in use. The surface is coated with grease. In order to reduce the ductility of the transmission rope 310, the transmission rope 310 cannot be elastically deformed when subjected to a force. Therefore, it is preferable to use a large horse diamond wire, a Kevlar wire or a steel wire rope with a diameter of 0.1 to 3 mm as the transmission in the present invention. ⁇ 310.
  • a first included angle is provided between the first rope segment 311 where the first finger ring 100 is installed and the horizontal plane, and the second finger ring 200 is installed at a first angle.
  • a second included angle is provided between the second rope segment 312 and the horizontal plane, and the first included angle and the second included angle are both greater than 0° and less than 90°. Therefore, this arrangement can further simplify the overall structure of the mirror image treatment device provided by the present invention, so that when the uninhibited limb is in motion, the first finger ring 100 can drive the transmission rope 310 to move synchronously, thereby driving The second finger ring 200 undergoes synchronous movement, so that the affected limb can repeat the same movements as the uninhibited limb at the same time. It is especially suitable for finger flexion and extension exercises, avoiding the mutual influence between the movement trajectory and the transmission rope 310, and improving the rehabilitation treatment. effect.
  • the first finger ring 100 includes a first ring body 110 and a first connector 120 that are connected
  • the second finger ring 200 includes a second ring body 210 and a second ring body that are connected.
  • the transmission rope 310 includes a first transmission rope body 313 and a second transmission rope body 314. One end of the first transmission rope body 313 is connected to the first ring body 110, and the other end is connected to the first ring body 110.
  • the two connecting members 220 are connected, one end of the second transmission rope body 314 is connected with the second ring body 210, and the other end is connected with the first connecting member 120.
  • this arrangement can ensure that all parts of the first rope segment 311 on which the first finger ring 100 is installed are located on the same straight line, and that all parts of the second rope segment 312 on which the second finger ring 200 is installed are located on the same straight line. This further ensures that the first finger ring 100 and the second finger ring 200 can maintain synchronized movement, and further improves the therapeutic effect of the mirror image therapy device provided by the present invention.
  • the transmission member further includes a plurality of first guide members 320 and a plurality of second guide members 330, and the plurality of first guide members 320 and the first ring 100
  • the plurality of second guide members 330 are arranged corresponding to the second finger ring 200
  • the transmission rope 310 is wound on the plurality of first guide members 320 and the plurality of second guide members 330 in turn
  • the transmission rope 310 can reciprocate relative to the first guide 320 and the second guide 330.
  • the transmission rope 310 can be guided by the first guide 320 and the second guide 330, so that when the finger of the healthy side moves, the transmission rope can be improved.
  • the response speed of 310 further ensures the synchronization of the patient's hands movement.
  • At least two adjacent first guide members 320 of the plurality of first guide members 320 are at different heights, and the first ring 100 is located at the different heights.
  • At least two adjacent second guides 330 of the plurality of second guides 330 are at different heights, and the second ring 200 is located at the different heights Between the two second guides 330.
  • the first finger ring 100 between the two first guides 320 at different heights, the first rope segment 311 on which the first finger ring 100 is installed can be kept inclined to the horizontal plane, and The second finger ring 200 is installed between the two second guides 330 at different heights, so that the second rope segment 312 on which the second finger ring 200 is installed can be kept inclined to the horizontal plane, so that it can be inserted into the first finger ring.
  • the transmission rope 310 can be better driven to produce corresponding displacement, thereby further ensuring the synchronization of the movement of the uninfected finger and the uninvolved finger.
  • a support seat 340 may be provided inside the box 700,
  • the first guide member 320 and the second guide member 330 are respectively installed on the corresponding supporting seat 340 to install the first guide member 320 and the second guide member 330 inside the box 700.
  • the first guide member 320 and the second guide member 330 are both pulleys. Therefore, by using the pulley as the guide of the transmission rope 310, not only can the friction of the transmission rope 310 be effectively reduced, and the discomfort of the patient during limb training can be reduced, and at the same time, the movement of the affected limb and the uninhibited limb can be further ensured. Synchronization.
  • part of the first guide member 320 and/or part of the second guide member 330 may be pulleys, and another part of the first guide member 320 and/or part of the second guide member 330 is not a pulley.
  • the mirror image treatment device further includes at least one displacement sensor 400, which is arranged corresponding to the transmission rope 310, and the displacement sensor 400 is used to measure the transmission
  • the movement of the rope 310 is displaced. Therefore, by providing the displacement sensor 400, the movement displacement of the transmission rope 310 can be measured by the displacement sensor 400. Since the transmission rope 310 is not elastically deformed and the initial state is the pre-tensioned state, the displacement of the transmission rope 310 is the finger The flexion displacement can be obtained by measuring the displacement of the transmission rope 310, and then the movement of the finger can be measured in real time by the displacement sensor 400, which provides a basis for interesting rehabilitation treatment.
  • the displacement sensor 400 is a photoelectric displacement sensor
  • the transmission rope 310 is provided with a marker corresponding to the displacement sensor 400.
  • the photoelectric displacement sensor has higher response speed and measurement accuracy, and the photoelectric displacement sensor is not prone to zero drift phenomenon, and has higher reliability. It can measure the movement of the limbs in real time, which provides a basis for interesting rehabilitation.
  • markers corresponding to the photoelectric displacement sensor on the transmission rope 310 it is more convenient for the photoelectric displacement sensor to measure the movement displacement of the transmission rope 310.
  • the transmission rope 310 is in position In the initial state, the marker is facing the photoelectric displacement sensor. At this time, the measured displacement is zero.
  • the marker moves with the transmission rope 310, and the marker
  • the movement displacement of the object is the movement displacement of the transmission rope 310.
  • the marker may be a marking point provided on the transmission rope 310 or a guide piece provided on the transmission rope 310.
  • the marker can also be other markers provided on the transmission rope 310, as long as the marker can function as a marker, and the present invention does not limit the type thereof. .
  • the displacement sensor 400 is installed between the first guide 320 and the corresponding second guide 330 at the same height.
  • the present invention provides a mirror image treatment system, the mirror image treatment system includes a display and the above-mentioned mirror image treatment device, and the display is used for displaying motion images of the uninvolved limb and the affected limb.
  • the mirror image treatment system provided by the present invention includes the above-mentioned mirror image treatment device, the mirror image treatment system provided by the present invention can drive the affected limb through the uninvolved limb, so that the affected limb can repeat the same actions as the uninhibited limb , Which can establish the patient's vision, motor sense and proprioception of the healthy and affected side of the synchronized nerve connection, to better stimulate the patient's nerve recovery, to solve the traditional mirror therapy only single visual stimulation, no motor sense and proprioception The problem of irritation.
  • the mirror image therapy system provided by the present invention also has a display
  • the mirror image therapy system provided by the present invention can display the motion images of the uninfected limb and the affected limb through the display, so that the patient can clearly Seeing the movements of the limbs improves the realism of mirror therapy, which can enhance the patient's kinesthesia and proprioception recovery.
  • the display may be a computer display for displaying real-time images collected by the at least one first camera 610 and the at least one second camera 620 described above.
  • the display can use image compensation algorithms when displaying the motion images of the healthy limb and the affected limb.
  • a neural network image compensation algorithm is used to repair the limbs.
  • the influence of the transmission part during exercise is shielded, so that the patient can only see the movement of the limbs, avoiding the patient's understanding of the transmission principle and imagining it as a self-repairing nerve, which further improves the reality of mirror treatment and enhances the treatment effect .
  • the display may also be used only to display the motion images of the affected limb to achieve mirror rehabilitation therapy.
  • the mirror image treatment device and mirror image treatment system provided by the present invention have the following advantages:
  • the mirror image treatment device includes a first positioning component, a second positioning component, and a transmission component connecting the first positioning component and the second positioning component; the first positioning component and the second positioning component
  • the positioning components are arranged relative to each other and both can reciprocate.
  • the first positioning component is used for positioning the patient's unhealthy limb
  • the second positioning component is used for positioning the patient's affected limb
  • the second positioning components are transmitted through the transmission component, and under the action of the transmission component, the second positioning component can move synchronously with the first positioning component.
  • the uninjured limb can drive the affected limb under the action of the transmission assembly, so that the uninfected limb can synchronously repeat the same actions as the uninjured limb, so that the patient's vision can be established.
  • Kinesiology and proprioception are connected to the healthy and affected side to better stimulate the patient's nerve recovery, which solves the problem of traditional mirror therapy with only single visual stimulation, no kinesthetic and proprioceptive stimulation.
  • the mirror image treatment device provided by the present invention uses a transmission rope as a transmission part, eliminating the motor transmission system, which not only can effectively reduce the production cost of the mirror image treatment device, but also can ensure the synchronization of the movement of the affected limb and the uninfected limb. It effectively avoids the unsynchronized movement of the affected limb and the uninvolved limb due to the inaccuracy and delay of signal detection.
  • the mirror image treatment device provided by the present invention uses pulleys as the guide of the transmission rope, which can not only effectively reduce the friction of the transmission rope and reduce the discomfort of the patient during limb training, but also can further ensure that the affected limbs are in contact with each other. Synchronization of the uninvolved limb movement.
  • the mirror image therapy device uses a photoelectric displacement sensor to measure the movement displacement of the transmission rope. Compared with the traditional inertial sensor, the response speed and measurement accuracy are higher, and the photoelectric displacement sensor is not prone to zero drift, which is reliable It is more flexible and can measure the movement of the limbs in real time, which provides a basis for fun rehabilitation.
  • the mirror image treatment device provided by the present invention can collect the movements of the uninfected limb in real time through the first camera, and collect the movements of the affected limb in real time through the second camera, and further process the collected images through the image compensation algorithm to remove The first positioning component, the second positioning component, and the transmission component in the image prevent the patient from understanding the transmission mechanism, so as to further improve the "realism" of mirror treatment.
  • the difference in the sense of touch that the patient feels during transmission can be compensated by increasing the immersion of the fun training, so as to better promote the patient's nerve recovery.
  • the mirror image treatment system provided by the present invention includes the above-mentioned mirror image treatment device, it has all the advantages of the above-mentioned mirror image treatment device.
  • the mirror image therapy system provided by the present invention drives the movement of the affected limb through the uninjured limb, so that the uninfected limb can repeat the same actions as the uninjured limb, thereby establishing the patient's vision, kinesthesia, and proprioceptive nerve recovery, which can be better Stimulate the patient’s nerve recovery.

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Abstract

一种镜像治疗装置，包括第一定位组件、第二定位组件以及连接第一定位组件和第二定位组件的传动组件；第一定位组件与第二定位组件相对设置且二者均能够往复运动，第一定位组件用于患者健侧肢体的定位，第二定位组件用于患者患侧肢体的定位；第一定位组件与第二定位组件之间通过传动组件进行传动，在传动组件的作用下，第二定位组件能够与第一定位组件同步运动。镜像治疗系统包括镜像治疗装置和显示器。镜像治疗系统通过健侧肢体驱动患侧肢体运动，使得患侧肢体能够重复与健侧肢体同样的动作，从而可以建立患者视觉、运动觉以及本体感觉的健、患侧的同步神经连接，以更好地刺激患者的神经恢复。

Description

镜像治疗装置及镜像治疗系统 技术领域
本发明涉及医疗器械技术领域，特别涉及一种镜像治疗装置及镜像治疗系统。
背景技术
随着生活节奏的加快、人口老龄化，脑卒中的发病率呈逐年上升趋势，脑卒中后75％的患者将遗留肢体功能障碍。除脑损伤本身造成的肢体瘫痪外，肩痛、肩手综合征、痉挛等并发症也会影响肢体功能的恢复。对于脑卒中患者肢体功能的恢复，上肢功能尤其重要，因为上肢功能与患者的ADL(即日常生活能力)密切相关，上肢功能恢复与否直接关系到患者的生活质量和社会复归。
镜像治疗，又称镜像视觉反馈疗法，是于1995年首次由Ramachandran等学者提出，应用于康复医学实践及神经科学研究。其主要采用镜子将患者健侧与患侧手臂隔开，患者在运动健侧手时，根据镜像的手臂，假想患侧手实际在运动，以促进患者神经恢复。
随着近年机器人技术的发展，机器人及视觉技术逐渐应用于镜像治疗装置中。其中，通过机器人及视觉技术，引入了运动觉及本体感觉，增强了镜像治疗效果。即利用电机驱动及肌电信号检测，通过检测健侧肢体运动，驱动患侧肢体做相同运动以建立患者视觉、运动觉及本体感觉的神经恢复。然而，由于信号检测的不准确性及延迟性，患者在感受患肢运动时有明显的不同步情况，无法实现健、患侧运动觉及本体感觉的同步刺激，以更好的促进患者的神经恢复。
发明内容
本发明的目的在于提供一种镜像治疗装置及镜像治疗系统，可以解决传统镜像治疗方式只有单一视觉刺激，没有运动觉及本体感觉的刺激的问题。
为解决上述技术问题，本发明提供一种镜像治疗装置，包括第一定位组 件、第二定位组件以及连接所述第一定位组件和所述第二定位组件的传动组件；
所述第一定位组件与所述第二定位组件相对设置且二者均能够往复运动，所述第一定位组件用于患者健侧肢体的定位，所述第二定位组件用于患者患侧肢体的定位；
所述第一定位组件与所述第二定位组件之间通过所述传动组件进行传动，以使所述第二定位组件与所述第一定位组件同步运动。
可选的，所述第一定位组件包括至少一个第一指环，所述第二定位组件包括至少一个第二指环，所述第一指环与所述第二指环一一对应设置，所述传动组件包括至少一组传动件，对应设置的所述第一指环与所述第二指环之间通过与其对应设置的传动件保持同步运动。
可选的，所述传动件包括能够往复运动的传动绳，所述传动绳的两端相连以形成一回路，所述第一指环安装于所述传动绳的第一绳段上，所述第二指环安装于所述传动绳的第二绳段上，以使安装有所述第一指环的第一绳段的运动状态与安装有所述第二指环的第二绳段的运动状态相一致。
可选的，所述安装有所述第一指环的第一绳段与水平面之间设有第一夹角，所述安装有所述第二指环的第二绳段与水平面之间设有第二夹角，所述第一夹角和所述第二夹角均大于0°且小于90°。
可选的，所述第一指环包括相连的第一环体和第一连接件，所述第二指环包括相连的第二环体和第二连接件，所述传动绳包括第一传动绳体和第二传动绳体，所述第一传动绳体的一端与所述第一环体相连，另一端与所述第二连接件相连，所述第二传动绳体的一端与所述第二环体相连，另一端与所述第一连接件相连。
可选的，所述传动件还包括多个第一导向件和多个第二导向件，所述多个第一导向件与所述第一指环对应设置，所述多个第二导向件与所述第二指环对应设置，所述传动绳依次缠绕于所述多个第一导向件和所述多个第二导向件上以形成所述回路，所述传动绳能够相对于所述第一导向件和所述第二导向件往复运动。
可选的，所述第一导向件和所述第二导向件均为滑轮。
可选的，所述镜像治疗装置还包括至少一个位移传感器，所述位移传感器与所述传动绳对应设置，所述位移传感器用于测量所述传动绳的位移。
可选的，所述位移传感器为光电位移传感器，所述传动绳上设有与所述位移传感器对应的标志物。
可选的，所述镜像治疗装置还包括用于支撑健侧肢体的第一支撑垫和用于支撑患侧肢体的第二支撑垫，所述第一支撑垫与所述第一定位组件对应设置，所述第二支撑垫与所述第二定位组件对应设置。
可选的，所述第一支撑垫用于与健侧肢体相接触的一侧设有第一凹面，所述第二支撑垫用于与患侧肢体相接触的一侧设有第二凹面。
可选的，所述镜像治疗装置还包括至少一个第一摄像头和至少一个第二摄像头，所述第一摄像头与所述第一定位组件对应设置，所述第二摄像头与所述第二定位组件对应设置。
可选的，所述镜像治疗装置还包括照明灯。
可选的，所述镜像治疗装置还包括箱体，所述箱体的内部设有空腔，所述第一定位组件、所述第二定位组件和所述传动组件均位于所述空腔内。
可选的，所述箱体包括支撑框架以及安装于所述支撑框架上的第一侧板、第二侧板、顶板、背面板和底板。
可选的，所述底板与所述支撑框架的底部之间设有间隙，所述底板相对于所述支撑框架的底部向上悬空设置。
可选的，所述箱体还包括安装于所述支撑框架上的前面板，所述前面板与所述背面板相对设置，所述前面板上设有供健侧肢体穿过的第一开口和供患侧肢体穿过的第二开口，所述第一开口与所述第一定位组件对应设置，所述第二开口与所述第二定位组件对应设置。
为解决上述技术问题，本发明还提供一种镜像治疗系统，包括上文所述的镜像治疗装置和显示器，所述显示器用于对健侧肢体和患侧肢体的动作图像进行显示。
与现有技术相比，本发明提供的镜像治疗装置及镜像治疗系统具有以下优点：
(1)本发明提供的镜像治疗装置包括第一定位组件、第二定位组件以及 连接所述第一定位组件和所述第二定位组件的传动组件；所述第一定位组件与所述第二定位组件相对设置且二者均能够往复运动，所述第一定位组件用于患者健侧肢体的定位，所述第二定位组件用于患者患侧肢体的定位；所述第一定位组件与所述第二定位组件之间通过所述传动组件进行传动，在所述传动组件的作用下，所述第二定位组件能够与所述第一定位组件同步运动。由此可见，通过采用本发明提供的镜像治疗装置，健侧肢体可以在传动组件的作用下驱动患侧肢体，使得患侧肢体能够同步重复与健侧肢体同样的动作，从而可以建立患者视觉、运动觉以及本体感觉的健、患侧的同步神经连接，以更好地刺激患者的神经恢复，解决了传统的镜像治疗方式只有单一视觉刺激，没有运动觉及本体感觉的刺激的问题。
(2)本发明提供的镜像治疗装置通过采用传动绳作为传动件，取消了电机传动系统，不仅可以有效降低镜像治疗装置的生产成本，同时可以保证患侧肢体与健侧肢体运动的同步性，有效避免了由于信号检测的不准确性及延迟性所出现的患侧肢体与健侧肢体运动不同步的情况。
(3)本发明提供的镜像治疗装置通过采用滑轮作为传动绳的导向件，不仅可以有效减小传动绳的摩擦力，降低患者进行肢体训练时的不适感，同时还可以进一步保证患侧肢体与健侧肢体运动的同步性。
(4)本发明提供的镜像治疗装置通过采用光电位移传感器测量传动绳的运动位移，相比于传统的惯性传感器，响应速度及测量精度更高，且光电位移传感器不容易发生零漂现象，可靠性更高，可以实时测量肢体的运动，为趣味性康复提供了基础。
(5)本发明提供的镜像治疗装置通过第一摄像头可以实时采集健侧肢体动作，通过第二摄像头可以实时采集患侧肢体动作，并进一步通过图像补偿算法对所采集的图像进行处理，以去除图像中的第一定位组件、第二定位组件以及传动组件，避免患者了解传动机理，以进一步提高镜像治疗的“真实感”。此外，传动时患者所感知的触觉差异，可以通过增加趣味性训练的沉浸感进行补偿，以更好的促进患者的神经恢复。
(6)由于本发明提供的镜像治疗系统包括上文所述的镜像治疗装置，因此其具有上文所述的镜像治疗装置的所有优点。本发明提供的镜像治疗系统 通过健侧肢体驱动患侧肢体运动，使得患侧肢体能够重复与健侧肢体同样的动作，从而可以建立患者视觉、运动觉以及本体感觉的神经恢复，进而可以更好地刺激患者的神经恢复。
附图说明
图1为本发明一实施方式的镜像治疗装置的整体结构示意图；
图2为本发明一实施方式的镜像治疗装置的局部结构示意图；
图3为本发明一实施方式的镜像治疗装置中的第一定位组件、第二定位组件以及传动组件之间的连接关系结构示意图；
图4为本发明一实施方式的镜像治疗装置中的一组第一指环与第二指环之间的传动关系结构示意图。
其中，附图标记如下：
100-第一指环；200-第二指环；310-传动绳；311-第一绳段；312-第二绳段；110-第一环体；120-第一连接件；210-第二环体；220-第二连接件；313-第一传动绳体；314-第二传动绳体；320-第一导向件；330-第二导向件；400-位移传感器；510-第一支撑垫；520-第二支撑垫；511-第一凹面；521-第二凹面；610-第一摄像头；620-第二摄像头；700-箱体；710-支撑框架；720-第一侧板；730-第二侧板；740-顶板；750-背面板；760-底板；770-前面板；771-第一开口；772-第二开口；340-支撑座；711-支撑件；712-第一支撑柱；713-第二支撑柱；761-第一缺口；762-第二缺口；741-第一通孔；742-第二通孔；810-第一手套；820-第二手套。
具体实施方式
以下结合附图1至4和具体实施方式对本发明提出的镜像治疗装置及镜像治疗系统作进一步详细说明。根据下面说明，本发明的优点和特征将更清楚。需要说明的是，附图采用非常简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本发明实施方式的目的。为了使本发明的目的、特征和优点能够更加明显易懂，请参阅附图。须知，本说明书所附图式所绘示的结构、比例、大小等，均仅用以配合说明书所揭示的内容，以供熟悉此技 术的人士了解与阅读，并非用以限定本发明实施的限定条件，故不具技术上的实质意义，任何结构的修饰、比例关系的改变或大小的调整，在不影响本发明所能产生的功效及所能达成的目的下，均应仍落在本发明所揭示的技术内容能涵盖的范围内。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。
在本发明的描述中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或 仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
本发明的核心思想在于提供一种镜像治疗装置及镜像治疗系统，以解决传统镜像治疗方式只有单一视觉刺激，没有运动觉及本体感觉的刺激的问题。
为实现上述思想，本发明提供一种镜像治疗装置，请参考图1至图3，其中图1示意性地给出了本发明一实施方式提供的镜像治疗装置的整体结构示意图；图2示意性地给出了本发明一实施方式提供的镜像治疗装置的局部结构示意图；图3示意性地给出了本发明一实施方式提供的镜像治疗装置中的第一定位组件、第二定位组件以及传动组件之间的连接关系结构示意图。如图1至图3所示，所述镜像治疗装置包括第一定位组件(图中未标注)、第二定位组件(图中未标注)以及连接所述第一定位组件和所述第二定位组件的传动组件(图中未标注)。
其中，所述第一定位组件与所述第二定位组件相对设置且二者均能够往复运动，所述第一定位组件用于患者健侧肢体的定位，所述第二定位组件用于患者患侧肢体的定位；所述第一定位组件与所述第二定位组件之间通过所述传动组件进行传动，在所述传动组件的作用下，所述第二定位组件能够与所述第一定位组件同步运动。在进行康复治疗时，患者先将健侧肢体和患侧肢体分别放置于第一定位组件和第二定位组件上，然后健侧肢体开始动作，在传动组件的作用下，第二定位组件能够与第一定位组件同步运动，从而使得患侧肢体可以重复与健侧肢体同样的动作。以手的康复为例，在进行手的康复治疗时，患者先将健侧手和患侧手分别放置于第一定位组件和第二定位组件上，然后健侧手做屈曲运动，进而带动第一定位组件运动，在传动组件的作用下，第二定位组件与第一定位组件同步运动，进而使得患侧手同步做屈曲运动。同理，当健侧手做后伸运动时，在传动组件的作用下，使得患侧手同步做后伸运动。需要说明的是，虽然本文中是以手作为康复对象为例进行说明，但如本领域技术人员所能理解的，所述康复对象还可以为手以外的其他肢体，本发明对此并不进行限制。
由此可见，通过采用本发明提供的镜像治疗装置，健侧肢体可以在传动 组件的作用下驱动患侧肢体，使得患侧肢体能够同步重复与健侧肢体同样的动作，从而可以建立患者视觉、运动觉以及本体感觉的健、患侧的同步神经连接，以更好地刺激患者的神经恢复，解决了传统的镜像治疗方式只有单一视觉刺激，没有运动觉及本体感觉的刺激的问题。
优选的，如图1和图2所示，为了便于操作，所述镜像治疗装置还包括箱体700，所述箱体700的内部设有空腔，所述第一定位组件、所述第二定位组件和所述传动组件均位于所述空腔内。由此，可以通过将所述第一定位组件、所述第二定位组件和所述传动组件安装于所述箱体700的空腔内，以更加便于操作，同时也更加便于所述镜像治疗装置的携带。此外，通过将所述第一定位组件、第二定位组件和所述传动组件安装于所述箱体700内部的空腔内，可以更加便于对传动组件进行遮挡，避免患者了解康复传动原理，提高镜像治疗的“真实感”，进一步增强患者运动觉及本体觉的神经恢复。为便于说明，本实施例中以图1和图2中所示左侧的组件作为第一定位组件，右侧的组件作为第二定位组件，在其他实施例中，也可以相反设置，以左侧的组件作为第二定位组件，在右侧的组件作为第一定位组件。
优选的，如图1和图2所示，所述箱体700包括支撑框架710以及安装于所述支撑框架710上的第一侧板720、第二侧板730、顶板740、背面板750和底板760。由此，通过将所述箱体700设置为包括支撑框架710的结构，可以通过将第一侧板720、第二侧板730、顶板740、背面板750和底板760分别安装于所述支撑框架710的左面、右面、顶面、背面和底面以快速完成箱体700的组装。同时此种结构设置也更加便于第一定位组件、第二定位组件和传动组件的安装。
优选的，为了便于组装和拆卸，所述第一侧板720、第二侧板730、顶板740、背面板750和底板760可通过紧固件安装于所述支撑框架710上。更为优选的，可以通过螺纹紧固件将所述第一侧板720、第二侧板730、顶板740、背面板750和底板760安装于所述支撑框架710上。
优选的，如图2所示，所述底板760与所述支撑框架710的底部之间设有间隙，所述底板760相对于所述支撑框架710的底部向上悬空设置，具体地可在所述支撑框架710的底部设置多个支撑件711，通过将所述底板760架 设于所述支撑件711上，以使得所述底板760相对于所述支撑框架710的底部向上悬空设置。由于，所述第一定位组件和第二定位组件安装于所述空腔内，而所述空腔是由所述第一侧板720、第二侧板730、顶板740、背面板750和底板760共同限定出来的，由此通过将所述底板760相对于所述支撑框架710的底部向上悬空设置，可以使得空腔整体上移，从而使得第一定位组件和第二定位组件所处的高度整体上移，进而更加便于患者放置健侧肢体与患侧肢体，更加便于操作。此外，所述底板760与所述支撑框架710的底部之间的空间也可以用于容纳第一定位组件、第二定位组件和传动组件中的部分部件。
优选的，如图1所示，所述箱体700还包括安装于所述支撑框架710上的前面板770，所述前面板770与所述背面板750相对设置，所述前面板770上设有用于供健侧肢体穿过的第一开口771和用于供患侧肢体穿过的第二开口772，所述第一开口771与所述第一定位组件对应设置，所述第二开口772与所述第二定位组件对应设置。由于所述箱体700还包括前面板770，由此，通过所述前面板770可以起到遮挡的作用，在进行康复治疗时，不需要再额外设置遮挡件以对传动组件进行遮挡，从而进一步提高本发明提供的镜像治疗装置治疗的有效性以及在使用过程中的便利性。此外，由于所述前面板770上设有用于供健侧肢体穿过的第一开口771和用于供患侧肢体穿过的第二开口772，由此在进行康复治疗时，患者可以通过所述第一开口771将健侧肢体伸入所述箱体700的内部，通过所述第二开口772将患侧肢体伸入所述箱体700的内部，从而更加便于操作。需要说明的是，如本领域技术人员能够理解的，所述箱体700还可以为不包括支撑框架710的结构，即所述箱体700由第一侧板720、第二侧板730、前面板770、背面板750、顶板740和底板760围成。
优选的，如图1和图2所示，所述镜像治疗装置还包括用于支撑健侧肢体的第一支撑垫510和用于支撑患侧肢体的第二支撑垫520，所述第一支撑垫510与所述第一定位组件对应设置，所述第二支撑垫520与所述第二定位组件对应设置。由此，通过设置第一支撑垫510和第二支撑垫520，在进行康复治疗时，患者可以将健侧肢体的至少一部分搭于所述第一支撑垫510上，将患 侧肢体的至少一部分搭于所述第二支撑垫520上，从而通过所述第一支撑垫510和第二支撑垫520分别对健侧肢体和患侧肢体起到支撑的作用，有效减少了患者在康复治疗中的疲劳感，进一步提高康复效果。仍以手的康复为例，在进行康复治疗时，患者可以将健侧手的腕部搭于所述第一支撑垫510上，将患侧手的腕部搭于第二支撑垫520上，从而通过第一支撑垫510和第二支撑垫520分别对健侧手的腕部和患侧手的腕部起到支撑作用，以更好地帮助患者进行手的康复治疗。
优选的，如图2所示，为了进一步便于操作，提高患者在康复训练中的舒适性，所述第一支撑垫510和所述第二支撑垫520均与所述箱体700的底板760之间存在一定的间隙，即所述第一支撑垫510和所述第二支撑垫520均相对于所述底板760悬空设置。为了便于所述第一支撑垫510和所述第二支撑垫520的安装，所述支撑框架710上设有用于固定所述第一支撑垫510的第一支撑柱712以及用于固定所述第二支撑垫520的第二支撑柱713，所述第一支撑垫510可通过紧固件安装于所述第一支撑柱712上，所述第二支撑垫520可通过紧固件安装于所述第二支撑柱713上。优选的，所述紧固件为螺纹紧固件。为了便于所述第一支撑柱712和所述第二支撑柱713的设置，所述底板760上设有与所述第一支撑柱712相配合的第一缺口761和与所述第二支撑柱713相配合的第二缺口762。
优选的，如图1和图2所示，所述第一支撑垫510用于与健侧肢体相接触的一侧设有第一凹面511，所述第二支撑垫520用于与患侧肢体相接触的一侧设有第二凹面521。由于所述第一支撑垫510上设有第一凹面511，第二支撑垫520上设有第二凹面521，由此不仅可以更好地对健侧肢体和患侧肢体起到支撑的作用，而且可以对健侧肢体和患侧肢体起到很好的定位作用，使患者能够更方便地将健侧肢体放置于第一定位组件上，将患侧肢体放置于第二定位组件上。
优选的，如图2所示，所述镜像治疗装置还包括至少一个第一摄像头610和至少一个第二摄像头620，所述第一摄像头610与所述第一定位组件对应设置，所述第二摄像头620与所述第二定位组件对应设置。由此，通过所述第一摄像头610可以自动实时采集健侧肢体动作，通过第二摄像头620可以自 动实时采集患侧肢体动作，不仅可以用于实现肢体运动的实时显示，而且更加便于操作。进一步地，通过图像补偿算法对摄像头所采集的图像进行处理，以去除图像中的第一定位组件、第二定位组件以及传动组件，避免患者了解到传动机理，进而可以进一步提高镜像治疗的真实感，进一步增强患者运动觉及本体觉的神经恢复。优选的，为了提高拍摄效果，所述第一摄像头610和所述第二摄像头620均安装于所述箱体700的顶板740上。需要说明的是，如本领域技术人员能够理解的，所述第一摄像头610和所述第二摄像头620还可以根据实际需要安装于所述箱体700的背面板750、前面板770、第一侧板720、第二侧板730或底板760上，本发明对所述第一摄像头610和第二摄像头620的具体安装位置并不进行限制。在其他实施例中，所述镜像治疗装置仅包括一个摄像头，所述摄像头的视野覆盖所述第一定位组件和所述第二定位组件，如此可以进一步避免多个摄像头所摄图像的显示之间可能存在不同步的问题。
优选的，如图1所示，为了便于布线，所述箱体700的顶板740上设有与所述第一摄像头610对应设置的第一通孔741以及与所述第二摄像头620对应设置的第二通孔742。
优选的，所述镜像治疗装置还包括照明灯(图中未示出)。由此，通过设置照明灯，可以起到补光的作用。尤其是，当所述箱体700包括前面板770、背面板750、顶板740、底板760、第一侧板720和第二侧板730时，由于所述箱体700的内部光线较暗，由此，通过设置照明灯，可以提高箱体700内部的亮度，进而提高第一摄像头610和第二摄像头620的拍摄效果。更为优选的，所述照明灯为LED灯，由此通过采用LED灯作为照明灯，可以进一步提高箱体700内部的亮度，从而进一步提高第一摄像头610和第二摄像头620的拍摄效果，使得第一摄像头610和第二摄像头620采集的图像更加清晰可见。
优选的，如图2和图3所示，所述第一定位组件包括至少一个第一指环100，所述第二定位组件包括至少一个第二指环200，所述第一指环100与所述第二指环200一一对应设置，所述传动组件包括至少一组传动件，对应设置的所述第一指环100与所述第二指环200之间通过与其对应设置的传动件 保持同步运动。由于所述第一定位组件包括至少一个第一指环100，第二定位组件包括至少一个第二指环200，且每一组对应设置的第一指环100和第二指环200之间均通过一组传动件进行传动，以保持对应设置的第一指环100与第二指环200之间保持同步运动，由此，本发明提供的镜像治疗装置可以更好地实现对患者手指的康复治疗。在进行手指的康复治疗时，患者可以将需要进行康复治疗的患侧手指插入第二指环200中，以使得所述第二指环200将患侧手指套紧，将与患侧手指对应的健侧手指插入第一指环100中，以使得所述第一指环100将健侧手指套紧，优选的，为了提高康复治疗的效果，可以将健侧手指的第一指节以及患侧手指的第一指节分别插入第一指环100与第二指环200中，当健侧手指做屈曲运动时，第一指环100下压，在传动件的作用下，第二指环200也同步下压，进而使得患侧手指同步做屈曲运动；当健侧手指做后伸运动时，第一指环100上移，在传动件的作用下，第二指环200也同步上移，进而使得患侧手指同步做后伸运动。
优选的，如图2和图3所示，为了更加便于使用，提高康复治疗的效果，所述第一定位组件包括五个第一指环100，所述五个第一指环100分别用于套紧患者健侧手的大拇指、食指、中指、无名指和小拇指。所述第二定位组件包括五个第二指环200，所述五个第二指环200分别用于套紧患者患侧手的大拇指、食指、中指、无名指和小拇指。所述传动组件包括五组传动件，所述五组传动件分别用于健侧大拇指与患侧大拇指之间的传动、健侧食指与患侧食指之间的传动、健侧中指与患侧中指之间的传动、健侧无名指与患侧无名指之间的传动以及健侧小拇指与患侧小拇指之间的传动。由此，此种设置，可以同时对患者的五个手指进行治疗，有效提高了康复治疗的效率与效果。
优选的，如图2所示，为了便于第一指环100和第二指环200的穿戴，可以分别设置用于套设第一指环100的第一手套810(图中未完全示出)和用于套设第二指环200的第二手套820(图中未完全示出)。更为优选的，所述五个第一指环100分别套设于所述第一手套810的五个手指部的第一指节处，所述第二指环200分别套设于所述第二手套820的五个手指部的第一指节处，所述第一手套810的腕部搭于所述第一支撑垫510上，所述第二手套820的腕部搭于所述第二支撑垫520上。由此，在进行康复治疗时，患者只需将健 侧手伸入所述第一手套810内，将患侧手伸入所述第二手套820内，即可将第一指环100戴于健侧手的手指上，将第二指环200戴于患侧手的手指上，更加便于操作。
优选的，请参考图2至图4，其中图4示意性地给出了本发明一实施方式提供的镜像治疗装置中的一组第一指环100与第二指环200之间的传动关系结构示意图，图中箭头表示当健侧手指做屈曲运动时，传动绳310中各绳段的运动方向。如图2至图4所示，所述传动件包括能够往复运动的传动绳310，所述传动绳310的两端相连以形成一回路，所述第一指环100安装于所述传动绳310的第一绳段311上，所述第二指环200安装于所述传动绳310的第二绳段312上，安装有所述第一指环100的第一绳段311的运动状态与安装有所述第二指环200的第二绳段312的运动状态相一致。此处，所述运动状态包括运动方向、运动距离、运动时间以及运动的起止等。具体地，可以通过在所述第一指环100和所述第二指环200上设置两个孔，将所述传动绳310分别与所述两个孔固定相连，以将所述第一指环100和所述第二指环200牢牢地安装于所述传动绳310上。由此，本发明通过采用传动绳310作为传动件，取消了电机传动系统，不仅可以有效降低镜像治疗装置的生产成本，同时可以保证患侧肢体与健侧肢体运动的同步性，有效避免了由于信号检测的不准确性及延迟性所出现的患侧肢体与健侧肢体运动不同步的情况。为了保证健侧手与患侧手运动的同步性，在将第一指环100和第二指环200安装于所述传动绳310上后，传动绳310具有一定的预紧力，以使得传动绳310在使用过程中一直保持绷紧状态。
如图4所示，当健侧手指做屈曲运动时，第一指环100下压，带动传动绳310的第一绳段311向下运动，进而带动传动绳310的各绳段处发生相应运动，其中安装有第二指环200的第二绳段312也向下运动，向下运动的第二绳段312进而带动第二指环200也向下运动，从而带动插接于第二指环200内的患侧手指同步做屈曲运动。
由于传动绳310的摩擦力及延展性对患者手指的康复治疗效果有很大程度地影响，因此为了进一步减小摩擦力，传动绳310选用摩擦系数较小的材质，且传动绳310在使用时表面涂有润滑油脂。为了减小传动绳310的延展 性，传动绳310在受力时不能发生弹性变形，因此优选的，可以采用大力马金刚线、凯夫拉线或者直径为0.1～3mm的钢丝绳作为本发明中的传动绳310。
优选的，如图3和图4所示，所述安装有所述第一指环100的第一绳段311与水平面之间设有第一夹角，所述安装有所述第二指环200的第二绳段312与水平面之间设有第二夹角，所述第一夹角和所述第二夹角均大于0°且小于90°。由此，此种设置，可以进一步简化本发明提供的镜像治疗装置的整体结构，使得健侧肢体在运动时，能够顺利通过所述第一指环100带动所述传动绳310发生同步运动，进而带动所述第二指环200发生同步运动，从而使得患侧肢体同时重复与健侧肢体同样的动作，尤其适用于手指屈曲和后伸运动，避免运动轨迹与传动绳310之间互相影响，提升康复治疗效果。
优选的，如图2至图4所示，所述第一指环100包括相连的第一环体110和第一连接件120，所述第二指环200包括相连的第二环体210和第二连接件220，所述传动绳310包括第一传动绳体313和第二传动绳体314，所述第一传动绳体313的一端与所述第一环体110相连，另一端与所述第二连接件220相连，所述第二传动绳体314的一端与所述第二环体210相连，另一端与所述第一连接件120相连。由此，此种设置可以保证安装有第一指环100的第一绳段311的各处位于同一条直线上，安装有第二指环200的第二绳段312的各处位于同一条直线上，从而进一步保证第一指环100和第二指环200之间能够保持同步运动，进一步提高本发明提供的镜像治疗装置的治疗效果。
优选的，如图2至图4所示，所述传动件还包括多个第一导向件320和多个第二导向件330，所述多个第一导向件320与所述第一指环100对应设置，所述多个第二导向件330与所述第二指环200对应设置，所述传动绳310依次缠绕于所述多个第一导向件320和所述多个第二导向件330上以形成所述回路，所述传动绳310能够相对于所述第一导向件320和所述第二导向件330往复运动。由此，通过设置第一导向件320和第二导向件330，可以通过所述第一导向件320和第二导向件330对传动绳310进行导向，使得当健侧手指运动时，提高传动绳310的响应速度，进一步保证患者双手运动的同步性。
优选的，如图2至图4所示，所述多个第一导向件320中的至少两个相邻的第一导向件320处于不同高度，所述第一指环100位于所述处于不同高 度的两个第一导向件320之间，所述多个第二导向件330中的至少两个相邻的第二导向件330处于不同高度，所述第二指环200位于所述处于不同高度的两个第二导向件330之间。由此，通过将第一指环100安装于所述处于不同高度的两个第一导向件320之间，可以使得安装有第一指环100的第一绳段311能够保持与水平面呈倾斜设置，将第二指环200安装于处于不同高度的两个第二导向件330之间，可以使得安装有第二指环200的第二绳段312能够保持与水平面呈倾斜设置，从而使得插接于第一指环100内的健侧手指进行屈曲或后伸运动时，可以更好地带动传动绳310发生相应的位移，从而进一步保证患侧手指与健侧手指运动的同步性。
优选的，如图2至图4所示，为了便于所述第一导向件320和所述第二导向件330的安装，可在所述箱体700的内部设置支撑座340，通过将所述第一导向件320和所述第二导向件330分别安装于与其对应设置的支撑座340上，以将所述第一导向件320和第二导向件330安装于所述箱体700的内部。
优选的，如图2至图4所示，所述第一导向件320和所述第二导向件330均为滑轮。由此，通过采用滑轮作为传动绳310的导向件，不仅可以有效减小传动绳310的摩擦力，降低患者进行肢体训练时的不适感，同时还可以进一步保证患侧肢体与健侧肢体运动的同步性。在其他实施例中，也可以部分所述第一导向件320和/或部分所述第二导向件330为滑轮，另有部分所述第一导向件320和/或部分所述第二导向件330不是滑轮。
优选的，如图2至图4所示，所述镜像治疗装置还包括至少一个位移传感器400，所述位移传感器400与所述传动绳310对应设置，所述位移传感器400用于测量所述传动绳310的运动位移。由此，通过设置位移传感器400，可以通过所述位移传感器400测量传动绳310的运动位移，由于传动绳310不发生弹性变形且初始状态为预紧状态，因此传动绳310的位移大小即为手指屈曲的位移大小，从而通过测量所述传动绳310的位移大小即可获取手指屈曲的位移大小，进而通过所述位移传感器400可以实时测量手指的运动，为趣味性康复治疗提供了基础。
优选的，所述位移传感器400为光电位移传感器，所述传动绳310上设有与所述位移传感器400对应设置的标志物。由于光电位移传感器相比于传 统的惯性传感器，响应速度及测量精度更高，且光电位移传感器不容易发生零漂现象，可靠性更高，可以实时测量肢体的运动，为趣味性康复提供了基础。此外，通过在所述传动绳310上设置与所述光电位移传感器对应设置的标志物，可以更加便于所述光电位移传感器对所述传动绳310的运动位移进行测量，当所述传动绳310处于初始状态时，所述标志物正对所述光电位移传感器，此时测得位移为零，当所述传动绳310开始运动时，所述标志物随所述传动绳310一起运动，所述标志物的运动位移即为所述传动绳310的运动位移。具体地，所述标志物可以为设置在所述传动绳310上的记号点，也可以为设置在所述传动绳310上的导片。如本领域技术人员能够理解的，所述标志物还可以为设置在传动绳310上的其他标志物，只要所述标志物能够起到标记的作用即可，本发明对其种类并不进行限制。
优选的，如图2至图4所示，为了进一步提高位移传感器400的测量精度，所述位移传感器400安装于位于同一高度的第一导向件320和对应的第二导向件330之间。
为实现上述思想，本发明提供一种镜像治疗系统，所述镜像治疗系统包括显示器和上述的镜像治疗装置，所述显示器用于对健侧肢体和患侧肢体的动作图像进行显示。由于本发明提供的镜像治疗系统包括上文所述的镜像治疗装置，由此本发明提供的镜像治疗系统可以通过健侧肢体驱动患侧肢体，使得患侧肢体能够重复与健侧肢体同样的动作，从而可以建立患者视觉、运动觉以及本体感觉的健、患侧的同步神经连接，以更好地刺激患者的神经恢复，解决了传统的镜像治疗方式只有单一视觉刺激，没有运动觉及本体感觉的刺激的问题。此外，由于，本发明提供的镜像治疗系统还具有显示器，由此，本发明提供的镜像治疗系统可以通过所述显示器将健侧肢体和患侧肢体的动作图像进行显示，以使得患者可以清楚地看到肢体的动作，提高镜像治疗的真实感，从而可以增强患者的运动觉及本体感觉的恢复。具体的，所述显示器可以是计算机显示器，用于显示上述至少一个第一摄像头610和至少一个第二摄像头620所采集的实时图像。为了进一步增强患者的运动觉及本体感觉的恢复，所述显示器在对健侧肢体和患侧肢体的动作图像进行显示时，可以采用图像补偿算法，优选的采用神经网络图像补偿算法以修补肢体在运 动时传动件的影响，屏蔽掉传动件，进而使得患者仅能看到肢体的动作，避免了患者了解传动原理，使其假想为自我的神经修复，进一步提高镜像治疗的真实感，提升治疗效果。在其他实施例中，所述显示器也可以仅用于显示患侧肢体的动作图像，实现镜像康复治疗。
综上所述，与现有技术相比，本发明提供的镜像治疗装置及镜像治疗系统具有以下优点：
(1)本发明提供的镜像治疗装置包括第一定位组件、第二定位组件以及连接所述第一定位组件和所述第二定位组件的传动组件；所述第一定位组件与所述第二定位组件相对设置且二者均能够往复运动，所述第一定位组件用于患者健侧肢体的定位，所述第二定位组件用于患者患侧肢体的定位；所述第一定位组件与所述第二定位组件之间通过所述传动组件进行传动，在所述传动组件的作用下，所述第二定位组件能够与所述第一定位组件同步运动。由此可见，通过采用本发明提供的镜像治疗装置，健侧肢体可以在传动组件的作用下驱动患侧肢体，使得患侧肢体能够同步重复与健侧肢体同样的动作，从而可以建立患者视觉、运动觉以及本体感觉的健、患侧的同步神经连接，以更好地刺激患者的神经恢复，解决了传统的镜像治疗方式只有单一视觉刺激，没有运动觉及本体感觉的刺激的问题。
(2)本发明提供的镜像治疗装置通过采用传动绳作为传动件，取消了电机传动系统，不仅可以有效降低镜像治疗装置的生产成本，同时可以保证患侧肢体与健侧肢体运动的同步性，有效避免了由于信号检测的不准确性及延迟性所出现的患侧肢体与健侧肢体运动不同步的情况。
(3)本发明提供的镜像治疗装置通过采用滑轮作为传动绳的导向件，不仅可以有效减小传动绳的摩擦力，降低患者进行肢体训练时的不适感，同时还可以进一步保证患侧肢体与健侧肢体运动的同步性。
(4)本发明提供的镜像治疗装置通过采用光电位移传感器测量传动绳的运动位移，相比于传统的惯性传感器，响应速度及测量精度更高，且光电位移传感器不容易发生零漂现象，可靠性更高，可以实时测量肢体的运动，为趣味性康复提供了基础。
(5)本发明提供的镜像治疗装置通过第一摄像头可以实时采集健侧肢体 动作，通过第二摄像头可以实时采集患侧肢体动作，并进一步通过图像补偿算法对所采集的图像进行处理，以去除图像中的第一定位组件、第二定位组件以及传动组件，避免患者了解传动机理，以进一步提高镜像治疗的“真实感”。此外，传动时患者所感知的触觉差异，可以通过增加趣味性训练的沉浸感进行补偿，以更好的促进患者的神经恢复。
(6)由于本发明提供的镜像治疗系统包括上文所述的镜像治疗装置，因此其具有上文所述的镜像治疗装置的所有优点。本发明提供的镜像治疗系统通过健侧肢体驱动患侧肢体运动，使得患侧肢体能够重复与健侧肢体同样的动作，从而可以建立患者视觉、运动觉以及本体感觉的神经恢复，进而可以更好地刺激患者的神经恢复。
上述描述仅是对本发明较佳实施方式的描述，并非对本发明范围的任何限定，本发明领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于权利要求书的保护范围。显然，本领域的技术人员可以对发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包括这些改动和变型在内。

Claims (18)

  1. 一种镜像治疗装置，其特征在于，包括第一定位组件、第二定位组件以及连接所述第一定位组件和所述第二定位组件的传动组件；
    所述第一定位组件与所述第二定位组件相对设置且二者均能够往复运动，所述第一定位组件用于患者健侧肢体的定位，所述第二定位组件用于患者患侧肢体的定位；
    所述第一定位组件与所述第二定位组件之间通过所述传动组件进行传动，以使所述第二定位组件与所述第一定位组件同步运动。
  2. 根据权利要求1所述的镜像治疗装置，其特征在于，所述第一定位组件包括至少一个第一指环，所述第二定位组件包括至少一个第二指环，所述第一指环与所述第二指环一一对应设置，所述传动组件包括至少一组传动件，对应设置的所述第一指环与所述第二指环之间通过与其对应设置的传动件保持同步运动。
  3. 根据权利要求2所述的镜像治疗装置，其特征在于，所述传动件包括能够往复运动的传动绳，所述传动绳的两端相连以形成一回路，所述第一指环安装于所述传动绳的第一绳段上，所述第二指环安装于所述传动绳的第二绳段上，以使安装有所述第一指环的第一绳段的运动状态与安装有所述第二指环的第二绳段的运动状态相一致。
  4. 根据权利要求3所述的镜像治疗装置，其特征在于，安装有所述第一指环的所述第一绳段与水平面之间设有第一夹角，安装有所述第二指环的所述第二绳段与水平面之间设有第二夹角，所述第一夹角和所述第二夹角均大于0°且小于90°。
  5. 根据权利要求3所述的镜像治疗装置，其特征在于，所述第一指环包括相连的第一环体和第一连接件，所述第二指环包括相连的第二环体和第二连接件，所述传动绳包括第一传动绳体和第二传动绳体，所述第一传动绳体的一端与所述第一环体相连，所述第一传动绳体的另一端与所述第二连接件相连，所述第二传动绳体的一端与所述第二环体相连，所述第二传动绳体的另一端与所述第一连接件相连。
  6. 根据权利要求3所述的镜像治疗装置，其特征在于，所述传动件还包括多个第一导向件和多个第二导向件，所述多个第一导向件与所述第一指环对应设置，所述多个第二导向件与所述第二指环对应设置，所述传动绳依次缠绕于所述多个第一导向件和所述多个第二导向件上以形成所述回路，所述传动绳能够相对于所述第一导向件和所述第二导向件往复运动。
  7. 根据权利要求6所述的镜像治疗装置，其特征在于，所述第一导向件和所述第二导向件均为滑轮。
  8. 根据权利要求3所述的镜像治疗装置，其特征在于，所述镜像治疗装置还包括至少一个位移传感器，所述位移传感器与所述传动绳对应设置，所述位移传感器用于测量所述传动绳的位移。
  9. 根据权利要求8所述的镜像治疗装置，其特征在于，所述位移传感器为光电位移传感器，所述传动绳上设有与所述位移传感器对应的标志物。
  10. 根据权利要求1所述的镜像治疗装置，其特征在于，所述镜像治疗装置还包括用于支撑健侧肢体的第一支撑垫和用于支撑患侧肢体的第二支撑垫，所述第一支撑垫与所述第一定位组件对应设置，所述第二支撑垫与所述第二定位组件对应设置。
  11. 根据权利要求10所述的镜像治疗装置，其特征在于，所述第一支撑垫用于与健侧肢体相接触的一侧设有第一凹面，所述第二支撑垫用于与患侧肢体相接触的一侧设有第二凹面。
  12. 根据权利要求1所述的镜像治疗装置，其特征在于，所述镜像治疗装置还包括至少一个第一摄像头和至少一个第二摄像头，所述第一摄像头与所述第一定位组件对应设置，所述第二摄像头与所述第二定位组件对应设置。
  13. 根据权利要求12所述的镜像治疗装置，其特征在于，所述镜像治疗装置还包括照明灯。
  14. 根据权利要求1所述的镜像治疗装置，其特征在于，所述镜像治疗装置还包括箱体，所述箱体的内部设有空腔，所述第一定位组件、所述第二定位组件和所述传动组件均位于所述空腔内。
  15. 根据权利要求14所述的镜像治疗装置，其特征在于，所述箱体包括支撑框架以及安装于所述支撑框架上的第一侧板、第二侧板、顶板、背面板 和底板。
  16. 根据权利要求15所述的镜像治疗装置，其特征在于，所述底板与所述支撑框架的底部之间设有间隙，所述底板相对于所述支撑框架的底部向上悬空设置。
  17. 根据权利要求15所述的镜像治疗装置，其特征在于，所述箱体还包括安装于所述支撑框架上的前面板，所述前面板与所述背面板相对设置，所述前面板上设有供健侧肢体穿过的第一开口和供患侧肢体穿过的第二开口，所述第一开口与所述第一定位组件对应设置，所述第二开口与所述第二定位组件对应设置。
  18. 一种镜像治疗系统，其特征在于，包括权利要求1至17中任一项所述的镜像治疗装置和显示器，所述显示器用于对健侧肢体和患侧肢体的动作图像进行显示。
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