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WO2016117998A1 - Système de thérapie assisté par robot - Google Patents

Système de thérapie assisté par robot Download PDF

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Publication number
WO2016117998A1
WO2016117998A1 PCT/MY2015/050158 MY2015050158W WO2016117998A1 WO 2016117998 A1 WO2016117998 A1 WO 2016117998A1 MY 2015050158 W MY2015050158 W MY 2015050158W WO 2016117998 A1 WO2016117998 A1 WO 2016117998A1
Authority
WO
WIPO (PCT)
Prior art keywords
handle
motor
controller
robotic device
robot
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/MY2015/050158
Other languages
English (en)
Inventor
Che Fai YEONG
Eileen Lee Ming SU
Kang Xiang KHOR
Patrick Jun Hua CHIN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Universiti Teknologi Malaysia (UTM)
Original Assignee
Universiti Teknologi Malaysia (UTM)
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 Universiti Teknologi Malaysia (UTM) filed Critical Universiti Teknologi Malaysia (UTM)
Publication of WO2016117998A1 publication Critical patent/WO2016117998A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • 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
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0176—By stopping operation
    • 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
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0184—Means for preventing injuries by raising an alarm
    • 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
    • A61H2201/16—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
    • A61H2201/1657—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
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5035—Several programs selectable
    • 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
    • A61H2201/5069—Angle 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/04—Heartbeat characteristics, e.g. E.G.C., blood pressure modulation
    • A61H2230/06—Heartbeat rate
    • A61H2230/065—Heartbeat rate used as a control parameter for the apparatus

Definitions

  • the present invention relates to a robot-assisted therapy system to train movements of a stroke patient.
  • rehabilitation robots have become recovery training aids to stroke patients. With the aid of robotic devices, different modules of rehabilitation trainings are developed to stimulate different sensorimotor functions. Rehabilitation robots are well tolerated by patients, and are found effective to aid stroke patients who are suffering paralysis, and at the same time enhancing efficiency of therapy.
  • US Patent No. 61 17093 discloses a device for hand and wrist rehabilitation using a magnetorheological fluid controllable resistance brake.
  • the magnetorheological fluid is controlled to provide different level of resistance. This is done by manipulating the magnetic field intensity through the control circuit to adjust the viscosity of the magnetorheological fluid in the brake system. This enables the patient to determine their training according to their recovery rate by adjusting the controller to a level of resistance suitable with their recovery rate.
  • the device also uses tool elements that are focusing on the wrist movement to daily usage in life.
  • the device does not trigger the patient's sense of touch.
  • the resistance brake system is only able to stimulate muscle strength, but does not stimulate a realistic touch sensation for the patients.
  • the present invention relates to a robot-assisted therapy system (1000).
  • the robot-assisted therapy system (1000) comprises of a pulse oximeter (100) to measure the heartbeat of a patient; a computing device (200) having a processor (210) to process algorithms and operations; and a robotic device (300) having a housing (350), a power switch (370) to switch on and off the robotic device (300), and an emergency switch (380) to switch off the robotic device if the patient experiences any difficulty.
  • the robotic device (300) further comprises of a controller (330) connected to the processor (210) to control and drive a motor (340); the motor (340) connected to the controller (330) to generate haptic effects; a handle (360) to fit the needs of different training modes to emulate daily activities; a current sensor (310) connected to the controller (330) to measure the current level and to estimate torque generated by the motor (340); and a rotary encoder (320) connected to the controller (330) to detect if the handle (360) has moved from its initial position. Additionally, the current sensor (310), the rotary encoder (320), the controller (330), and the motor (340) are enclosed within the housing (350).
  • the handle (360) is detachable from the robotic device (300).
  • the detachable handle (360) includes a forearm handle (360a), a wrist handle (360b), a circular handle (360c), a key handle (360d) and a long handle (360e).
  • FIG. 1 illustrates a block diagram of a robot-assisted therapy system (1000) according to an embodiment of the present invention.
  • FIGS. 2 (a - d) illustrate control algorithm diagrams for a motor (340) in a robotic device (300) of the robot-assisted therapy system (1000).
  • FIG. 3 illustrates a detail drawing of the robotic device (300) of the robot-assisted therapy system (1000) of FIG. 1 .
  • FIG. 4 illustrates different types of handles (360) of the robotic device (300).
  • FIG. 5 illustrates a flowchart of a method for operating the robot-assisted therapy system (1000) of FIG. 1. DESCRIPTION OF THE PREFFERED EMBODIMENT
  • FIG. 1 illustrates a robot-assisted therapy system (1000) according to an embodiment of the present invention.
  • the usage of the robot-assisted therapy system (1000) may include but is not limited to treating an impaired wrist of a patient having a stroke.
  • the robot-assisted therapy system (1000) operates in three training modes which include a passive mode, an assistive mode and an active mode.
  • the passive mode is used for helping the patient who cannot move his/her wrist
  • the assistive mode is used for helping the patient who can move the wrist but only in a restricted range of movement
  • the active mode is used for helping the patient to improve muscle function by increasing resistance according to the patient's recovery rate.
  • the range of movement, strength, level, duration of time and number of repetition can be set in a graphical user interface before the training begins.
  • the robot-assisted therapy system (1000) is able to generate haptic feedback during the training for the patient to experience virtual object.
  • the robot-assisted therapy system (1000) comprises of a pulse oximeter (100), a computing device (200), and a robotic device (300).
  • the pulse oximeter (100) which is connected to the computing device (200) is configured to measure the heartbeat of the patient.
  • the measured heartbeat is sent to the computing device (200) to compare with a predetermined threshold level.
  • a predetermined threshold level By measuring the heartbeat, the stress level of the patient undergoing the training can be determined. If the measured heartbeat is higher than the predetermined threshold level, this indicates that the stress level of the patient is high and thus, a warning message is indicated by the computing device (200) to advise the patient to take a rest rather than to proceed with the training.
  • the computing device (200) includes a processor (210) which is connected to a monitor (220) and a speaker (230). Moreover, the processor (210) is connected to a controller (330) in the robotic device (300). The processor (210) is configured to process algorithms and operations, including sound, visual and haptic sensation.
  • the monitor (220) is configured to display the graphical user interface of a virtual environment.
  • the speaker (230) is configured to provide audio feedback to generate more realistic virtual environment to motivate the patient to do more exercise during the training.
  • the robotic device (300) includes a current sensor (310), a rotary encoder (320), a controller (330), and a motor (340).
  • the current sensor (310), which is connected to the controller (330), is configured to measure the current level and to estimate the torque generated by the motor (340) during the training.
  • the rotary encoder (320), which is also connected to the controller (330), is configured to detect if a handle (360) of the robotic device (300) as shown in FIG. 3 is at its initial position or not.
  • the controller (330) is also connected to the processor (210) of the computing device (200).
  • the controller (330) is configured to control and drive the motor (340).
  • the controller (330) sends a torque signal to the motor (340) to rotate the motor (340), wherein the motor (340) generates haptic effects when the handle (360) is being operated by the patient.
  • FIGS. 2 (a-d) illustrate control algorithm diagrams for the motor (340).
  • the motor (340) implements three different models, which are weight control, wall control and magnet control as shown in FIG. 2 (a).
  • the pulse width modulation motor command (MotorPWM) is defined as:
  • MotorPWM Weight Control + Wall Control + Magnet Control
  • the first model which is the weight control, generates haptic effect for the patient to experience virtual weight, wherein the weight control is defined as:
  • Weight Control K w x Weight x Lever x sin(0)
  • K w refers to a weight control gain which determines the amount of weight control that affects the output.
  • the Weight refers to the virtual weight which is attached to a virtual haptic knob.
  • the Lever refers to length of the lever which is connected to the virtual haptic knob.
  • the angle ⁇ refers to the angle rotation of the virtual haptic knob. The relationship of the weight control equation is shown in FIG. 2 (b).
  • the second model which is the wall control, generates haptic effect for the patient to experience virtual collisions, wherein the wall control equation is defined as: with collision
  • p refers to the wall control proportional gain.
  • e(t) refers to the error on the wall collision, which is derived from the error between the tip of the lever and the wall position.
  • K D refers to the wall control derivative gain.
  • the third model which is the magnet control, generates haptic effect for the patient to experience a virtual gravitational feedback.
  • the magnet control applies Newton's universal law of gravity, based on the equation below:
  • G refers to the gravitational constant and M refers to the mass of an object.
  • the Length refers to the distance between two objects.
  • the equation is simplified by assuming Mi and M? to be one, resulting the equation of F M to be as follows:
  • the resulting equation of F M represents attraction between two objects.
  • the magnet control is defined as:
  • F represents the relationship between F M and angle ⁇ between F M and F.
  • Angle a represents the angle between the Length and the Lever.
  • the relationship between the Length, Lever, ⁇ , a, and magnet control is as shown in FIGS. 2 (c - d).
  • FIG. 3 it illustrates a detail drawing of the robotic device (300) of the robot-assisted therapy system (1000).
  • the robotic device (300) further comprises of a housing (350), a handle (360), a power switch (370), and an emergency switch (380).
  • the housing (350) is used to enclose the motor (340), the rotary encoder (320), the current sensor (310), and the controller (330).
  • the handle (360) which is preferably a detachable handle, is attached to the robotic device (300) at point A.
  • the handle (360) fits the needs of different training modes to emulate daily activities.
  • the power switch (370) is used to switch on and off the robotic device (300), whereas the emergency switch (380) is used to switch off the robotic device (300) if the patient experiences any difficulties during the rehabilitation training.
  • FIG. 4 it shows different types of handles (360) of the robotic device (300).
  • the handles (360) are attachable to the robotic device (300) at point A as shown in FIG. 3.
  • the different types of handles (360) allow the patient to emulate daily activities such as using a key, opening a door, or grabbing a can.
  • the first handle type is a forearm handle (360a) to train the forearm of the patient. By holding the forearm handle (360a), the patient trains the forearm by rotating the handle.
  • the second handle type is a wrist handle (360b) which is used to train wrist movement by gripping and moving the wrist handle (360b).
  • the third handle type is a circular handle (360c) which is similar to a door knob which is used to train the patient to turn the door knob.
  • the fourth handle type is a key handle (360d) which is used to train the patient to turn a key slotted by holding the key handle (360d).
  • the fifth handle type is a long handle (360e) which is used to train the patient to grab and turn the long handle (360e) using his/her wrist.
  • FIG. 5 shows a flowchart of a method for operating the robot-assisted therapy system (1000).
  • the training mode of the robotic device (300) is selected as in step 502, wherein the training mode can either be a passive mode, an assistive mode, or an active mode.
  • the training session is continuous preferably for one minute.
  • the robotic device (300) moves the hand of the patient automatically based on the range of movement that has been set.
  • the range of movement is set to a certain degree while a number of repetitions is inputted in the graphical user interface as in step 510.
  • the processor (210) sends a signal to the controller (330) for the motor (340) to generate torque to rotate the motor (340).
  • the handle (360) also rotates as in step 511.
  • the robotic device (300) moves the hand of the patient automatically based on the range of movement that has been set. If there is still remaining number of repetitions left as in decision 512, the motor (340) rotates the handle (360) as in step 511.
  • the training session ends.
  • the patient moves the handle (360) of the robotic device (300) within a duration of time based on the range of movement that has been set.
  • the range of movement, the number of repetition and the time duration are inputted in the graphical user interface as in step 520.
  • the motor (340) is in a standby mode as the patient moves the handle (360) within the duration of time as in step 521.
  • the rotary encoder (320) detects the position of the handle (360) that is moved by the patient, whereas the current sensor (310) senses and measures the current of the torque generated by the motor (340).
  • the motor (340) remains in standby mode until the end of the training session as in step 521 . However, if the patient does not move the handle within the duration of time as in decision 522, the controller (330) sends a signal to the motor (340) to rotate the handle. The motor (340) then rotates the handle (360) to assist the patient to complete the training session as in step 523. If the training session is not completed as in decision 524, the motor (340) continues to assist the patient until the training is completed. However, if the training session is completed as in decision 524, the training session ends.
  • the patient moves the handle (360) of the robotic device (300) based on the range of movement that has been set, strength, level, duration of time and number of repetition which are inputted as in step 530.
  • the motor (340) is in standby mode as in step 531 as the patient moves the handle (360). If the position of the handle (360) is detected to be at its initial position by the rotary encoder (320) as in decision 532, the motor (340) continues to be in standby mode until the training session ends. However, if the position of the handle (360) is not at the initial position, the controller (330) sends a signal to the motor (340) to move the handle (360) to an opposite direction of the range of movement that was inputted as in step 533.
  • the patient has to move the handle (360) back to the initial position. If the position of the handle is not back to the initial position as in decision 534, the controller (330) signals the motor (340) to move the handle (360) to an opposite direction until the position of the handle is back to the initial position. However, if the position of the handle (360) is back to the initial position as in decision 534, the motor (340) continues to be in standby mode until the training session ends.

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  • 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)
  • Rehabilitation Tools (AREA)

Abstract

La présente invention concerne un système de thérapie assisté par robot (1000) pour traiter un poignet affaibli d'un patient atteint d'un accident vasculaire cérébral. Le système de thérapie assisté par robot (1000) comprend un sphygmo-oxymètre (100) ; un dispositif informatique (200) ayant un processeur (210) ; un dispositif robotique (300) ayant un boîtier (350), un commutateur d'alimentation (370) et un commutateur d'urgence (380). Le dispositif robotique (300) comprend en outre un dispositif de commande (330) ; un moteur (340) ; une poignée (360) ; un capteur de courant (310) ; un codeur rotatif (320). De plus, le capteur de courant (310), le codeur rotatif (320), le dispositif de commande (330) et le moteur (340) sont enfermés dans le boîtier (350).
PCT/MY2015/050158 2015-01-20 2015-12-31 Système de thérapie assisté par robot Ceased WO2016117998A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
MYPI2015000146 2015-01-20
MYPI2015000146 2015-01-20

Publications (1)

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WO2016117998A1 true WO2016117998A1 (fr) 2016-07-28

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160270999A1 (en) * 2015-03-20 2016-09-22 Regents Of The University Of Minnesota Systems and methods for assessing and training wrist joint proprioceptive function

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007520311A (ja) * 2004-02-05 2007-07-26 モトリカ インク リハビリテーション並びにトレーニングのための方法及び器械
JP3140558U (ja) * 2008-01-18 2008-03-27 新明工業株式会社 リハビリ装置
WO2012114274A2 (fr) * 2011-02-21 2012-08-30 Humanware S.R.L. Système et dispositif tactile pour interaction homme-machine

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007520311A (ja) * 2004-02-05 2007-07-26 モトリカ インク リハビリテーション並びにトレーニングのための方法及び器械
JP3140558U (ja) * 2008-01-18 2008-03-27 新明工業株式会社 リハビリ装置
WO2012114274A2 (fr) * 2011-02-21 2012-08-30 Humanware S.R.L. Système et dispositif tactile pour interaction homme-machine

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160270999A1 (en) * 2015-03-20 2016-09-22 Regents Of The University Of Minnesota Systems and methods for assessing and training wrist joint proprioceptive function
US10786415B2 (en) * 2015-03-20 2020-09-29 Regents Of The University Of Minnesota Systems and methods for assessing and training wrist joint proprioceptive function
US11510840B2 (en) 2015-03-20 2022-11-29 Regents Of The University Of Minnesota Systems and methods for assessing and training wrist joint proprioceptive function

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