CN-121971096-A - Self-control postoperative four limbs rehabilitation training system

CN121971096ACN 121971096 ACN121971096 ACN 121971096ACN-121971096-A

Abstract

The invention relates to the technical field of medical rehabilitation instruments, and discloses a self-control postoperative limb rehabilitation training system. The system comprises a muscle strength signal processing and judging module, a digital control signal generating module, an air pressure regulation and control instruction generating module, an air pressure control executing module, a hemodynamic monitoring module and an adaptive regulation and control module. The system acquires and judges the effectiveness of the active pinching muscle force signal of the upper limb of the patient, quantifies the active pinching muscle force signal into a control signal and synchronously drives the lower limb air pressure treatment device to perform periodical inflation and deflation. And monitoring a lower limb hemodynamic feedback signal, and adapting to the treatment pressure and time parameters of a subsequent period in real time according to the fluctuation characteristics of the lower limb hemodynamic feedback signal. The system realizes the cross-limb coordination of the upper limb active willingness control lower limb treatment process of the patient, can realize the individual dynamic adjustment of treatment parameters according to physiological feedback, and improves the initiative and treatment safety of rehabilitation training.

Inventors

XU DAN
ZHANG BO
DAI QI

Assignees

宁波市第二医院

Dates

Publication Date: 20260505
Application Date: 20260113

Claims (10)

1. A self-controlled postoperative limb rehabilitation training system, the system comprising: The muscle strength signal processing and judging module is used for acquiring a muscle strength signal generated by the active pinching action of the upper limb of the patient and judging the validity of the muscle strength signal according to a predefined muscle strength threshold value; the digital control signal generation module is used for carrying out quantization conversion on the effective muscle strength signals and generating digital control signals in direct proportion to the strength of the grip strength; the air pressure regulation and control instruction generation module is used for synchronously generating air pressure regulation and control instructions for driving the intermittent air pressure treatment device of the lower limb according to the characteristics of the digital control signals; The air pressure control execution module is used for controlling the lower limb intermittent air pressure treatment device to periodically inflate and deflate the lower limb of the patient according to the air pressure regulation and control instruction; the hemodynamic monitoring module is used for continuously monitoring hemodynamic feedback signals of lower limbs of a patient in the process of executing periodic inflation and deflation; And the adaptive regulation and control module is used for adjusting the inflation pressure value, the inflation holding time and the deflation time parameter in the air pressure regulation and control instruction in the subsequent period in real time according to the fluctuation characteristic of the hemodynamic feedback signal to form an adaptive air pressure regulation and control cycle.
2. The self-controlled postoperative limb rehabilitation training system according to claim 1, wherein acquiring a muscle force signal generated by an active pinching motion of an upper limb of a patient and judging the validity of the muscle force signal according to a predefined muscle force threshold value comprises: Capturing an original pressure electric signal generated when a patient actively performs a pinching action through a muscle force sensor worn on the palm of the patient; Filtering the original pressure electric signal, filtering high-frequency noise and power frequency interference, and extracting a smooth muscle strength waveform signal; comparing peaks of the smoothed muscle strength waveform signal with the predefined muscle strength threshold, the predefined muscle strength threshold being a minimum value set according to a patient basal muscle strength level; when the peak value of the smooth muscle strength waveform signal is larger than or equal to the predefined muscle strength threshold value, judging that the pinching action is effective action, and triggering a signal validity mark; and taking the smooth muscle strength waveform signal of the trigger signal validity mark as the valid muscle strength signal.
3. The self-controlled postoperative rehabilitation training system according to claim 1, wherein the performing quantization conversion on the effective muscle strength signal to generate a digital control signal proportional to the strength of the grip strength, comprises: Calculating the signal integration area of the effective muscle force signal in a complete pinching action period; Dividing the signal integral area by the integral area of a standard reference pinching action to obtain a normalized pinching force intensity coefficient; According to a mapping relation table between a preset grip strength coefficient and a digital grade, converting the normalized grip strength coefficient into a corresponding digital grade; and packaging the digital grade into a data packet in a standard format, wherein the data packet in the standard format comprises a time stamp, a patient identification and a digital grade value, and generating the digital control signal.
4. The self-controlled postoperative limb rehabilitation training system according to claim 1, wherein the air pressure regulating and controlling command for driving the intermittent air pressure treatment device for lower limb is synchronously generated according to the characteristics of the digital control signal, comprising: analyzing the digital control signal and extracting the digital grade value; Inquiring a preset air pressure parameter mapping table according to the digital grade value, and acquiring a corresponding basic target air pressure value, basic inflation time and basic treatment cycle number; taking the basic target air pressure value as a pressure target of an inflation stage, taking the basic inflation time as the time length of the inflation stage, and generating an initial air pressure sequence parameter by combining the basic treatment cycle number; and combining the initial air pressure sequence parameter with the current system time and the treatment stage mark to generate the structured air pressure regulation instruction.
5. The self-controlled postoperative limb rehabilitation training system according to claim 1, wherein the control of the intermittent pneumatic treatment device for lower limb of patient to periodically inflate and deflate lower limb of patient according to the pneumatic control command comprises: the air pump controller of the lower limb intermittent air pressure treatment device receives the air pressure regulating instruction; The air pump controller drives the air pump to inflate the air bag wound on the lower limb of the patient according to the basic target air pressure value and basic inflation time in the air pressure regulation instruction until the pressure in the air bag reaches the basic target air pressure value and the basic inflation time is maintained; After the basic inflation time is reached, the air pump controller controls the electromagnetic valve to be opened, so that the air in the air bag is released at a constant speed according to the deflation time specified in the air pressure regulation and control instruction, and an inflation and deflation period is completed; repeating the inflation and deflation processes until the number of completed cycles reaches the basic treatment cycle number specified in the air pressure regulation instruction.
6. The self-controlled postoperative limb rehabilitation training system according to claim 1, wherein the hemodynamic feedback signal of the patient's lower limb is continuously monitored during the periodic inflation and deflation process, comprising: Monitoring a real-time change curve of the pressure in the air sac in each inflation and deflation period by an air sac pressure sensor arranged on the lower limb of the patient, and taking the real-time change curve as a pressure feedback signal; synchronously acquiring waveforms of arterial blood flow velocity in each inflation and deflation period by a Doppler blood flow probe arranged at the instep artery of a patient, and taking the waveforms as blood flow velocity feedback signals; aligning and time-stamping the pressure feedback signal and the blood flow velocity feedback signal on the same time axis; And carrying out data fusion on the pressure feedback signal with the time mark aligned and the blood flow velocity feedback signal to form the hemodynamic feedback signal with three dimensions of time, pressure and blood flow velocity.
7. The self-controlled postoperative limb rehabilitation training system according to claim 1, wherein the inflation pressure value, inflation holding time and deflation time parameters in the air pressure regulation command in the subsequent period are adjusted in real time according to the fluctuation characteristics of the hemodynamic feedback signal, so as to form an adaptive air pressure regulation cycle, comprising: Analyzing the hemodynamic feedback signals to calculate an average blood flow velocity at the end of each inflation maintenance phase; Comparing the average blood flow velocity with a preset expected blood flow velocity range, and judging whether blood flow perfusion is sufficient or not; if the average blood flow velocity is lower than the lower limit of the expected blood flow velocity range, up-regulating the basic target air pressure value and the basic inflation time in the air pressure regulation instruction before the next treatment period starts; If the average blood flow velocity is higher than the upper limit of the expected blood flow velocity range, the basic target air pressure value in the air pressure regulation instruction is adjusted downwards before the next treatment period starts; and updating the adjusted basic target air pressure value, basic inflation time and deflation time parameters into the air pressure regulating instruction for driving the treatment of the subsequent period.
8. A self-controlled postoperative rehabilitation training system according to claim 3, wherein calculating the signal integration area of the effective muscle force signal in a complete pinching motion cycle comprises: Identifying a waveform starting point and a waveform ending point of the effective muscle force signal, wherein the waveform starting point is a time point when a signal value exceeds a resting base line threshold value for the first time, and the waveform ending point is a time point when the signal value falls back to the resting base line threshold value for the last time; performing discrete point sampling on the muscle strength signal waveform between the waveform starting point and the waveform ending point at fixed sampling intervals; and carrying out numerical integration operation on the discrete signal values obtained by sampling, and accumulating the product of the signal values in each sampling interval and the sampling interval to obtain the signal integration area.
9. The self-controlled post-operative limb rehabilitation training system according to claim 6, wherein aligning and time-stamping the pressure feedback signal and the blood flow velocity feedback signal on the same time axis comprises: Marking system uniform time stamps for the pressure feedback signal and the blood flow velocity feedback signal respectively, wherein the system uniform time stamp precision reaches millisecond level; Taking the starting time of each inflation and deflation period as an alignment reference point, and respectively intercepting a data segment with a complete period length from the alignment reference point in the pressure feedback signal and the blood flow velocity feedback signal; And carrying out strict time sequence matching on the intercepted pressure feedback signal data segment and the blood flow velocity feedback signal data segment according to the uniform time stamp of the system, so as to ensure time synchronization of the two signals at each sampling point.
10. The self-controlled post-operative limb rehabilitation training system according to claim 7, wherein analyzing the hemodynamic feedback signals calculates an average blood flow velocity at the end of each inflation maintenance phase, comprising: Extracting blood flow velocity data points corresponding to the last preset time length of the inflation maintaining stage from the blood flow dynamics feedback signals; Removing abnormal values from the extracted blood flow speed data points, wherein the abnormal values are defined as data points deviating from the median of the data in the time period by more than three times of standard deviation; And calculating an arithmetic average value of the blood flow velocity data points after the abnormal value is removed, and obtaining the average blood flow velocity.

Description

Self-control postoperative four limbs rehabilitation training system Technical Field The invention relates to the technical field of medical rehabilitation instruments, in particular to a self-control postoperative limb rehabilitation training system. Background In the traditional postoperative rehabilitation training, the treatment aiming at the recovery of the functions of the upper limbs and the prevention of the deep venous thrombosis of the lower limbs of a patient is usually carried out independently. The rehabilitation of the upper limb depends on the independent pinching and holding actions of patients, the effort degree and the training intensity of the rehabilitation lack objective and quantitative output and feedback, the pneumatic circulation treatment of the lower limb generally adopts a therapeutic instrument with preset fixed parameters, the fixed inflation pressure and the fixed inflation time mode are set according to general experience, and the same physical extrusion is carried out on all patients. The separated treatment modes lack systematic linkage in the rehabilitation process, so that active participation of a patient is difficult to be stimulated, and accurate intervention based on the physiological state of an individual cannot be realized. The prior art solutions have mainly two drawbacks. The rehabilitation of the upper limb and the lower limb is completely split on equipment and control logic, a synergistic effect cannot be formed in the treatment process, conscious nerve impulse and muscle contraction of the upper limb cannot be utilized to synchronously promote blood circulation and nerve reflex of the lower limb, the opportunity of improving the overall rehabilitation efficiency through cross limb cooperative training is missed, and the lower limb air pressure treatment parameters are solidified and cannot be adjusted according to real-time vascular response and blood flow perfusion conditions of patients in the treatment process. The fixed pressure and timing may be less effective for some patients and may be uncomfortable or even risky for others, lacking in adaptability to individual differences and dynamic physiological changes. Disclosure of Invention The invention aims to provide an automatic control type postoperative limb rehabilitation training system for solving the problems in the background technology. To achieve the above object, the present invention provides a self-controlled postoperative limb rehabilitation training system, the system comprising: The muscle strength signal processing and judging module is used for acquiring a muscle strength signal generated by the active pinching action of the upper limb of the patient and judging the validity of the muscle strength signal according to a predefined muscle strength threshold value; the digital control signal generation module is used for carrying out quantization conversion on the effective muscle strength signals and generating digital control signals in direct proportion to the strength of the grip strength; the air pressure regulation and control instruction generation module is used for synchronously generating air pressure regulation and control instructions for driving the intermittent air pressure treatment device of the lower limb according to the characteristics of the digital control signals; The air pressure control execution module is used for controlling the lower limb intermittent air pressure treatment device to periodically inflate and deflate the lower limb of the patient according to the air pressure regulation and control instruction; the hemodynamic monitoring module is used for continuously monitoring hemodynamic feedback signals of lower limbs of a patient in the process of executing periodic inflation and deflation; And the adaptive regulation and control module is used for adjusting the inflation pressure value, the inflation holding time and the deflation time parameter in the air pressure regulation and control instruction in the subsequent period in real time according to the fluctuation characteristic of the hemodynamic feedback signal to form an adaptive air pressure regulation and control cycle. Preferably, acquiring a muscle force signal generated by an active pinching action of an upper limb of a patient, and judging the validity of the muscle force signal according to a predefined muscle force threshold value, including: Capturing an original pressure electric signal generated when a patient actively performs a pinching action through a muscle force sensor worn on the palm of the patient; Filtering the original pressure electric signal, filtering high-frequency noise and power frequency interference, and extracting a smooth muscle strength waveform signal; comparing peaks of the smoothed muscle strength waveform signal with the predefined muscle strength threshold, the predefined muscle strength threshold being a minimum value set according to a patient basal muscle strength l