CN-121983237-A - Self-adaptive closed-loop control method and system for hand joint rehabilitation

CN121983237ACN 121983237 ACN121983237 ACN 121983237ACN-121983237-A

Abstract

The invention relates to the field of medical rehabilitation training control, in particular to a hand joint rehabilitation self-adaptive closed-loop control method and system. The method comprises the steps of obtaining equipment and joint parameters, performing motion trail configuration and compensation registration to construct a fixed configuration structure, generating session configuration and an individualized safety threshold based on the fixed configuration structure, completing threshold comparison configuration loading, then collecting angle and moment data in real time, judging motion intention and spasticity, generating a self-adaptive motor control instruction according to the motion intention and spasticity, and finally archiving training data and generating a progress report and a threshold updating record. The invention realizes the self-adaptive adjustment of the rehabilitation training process of the hand joint through closed-loop control, can dynamically adjust the auxiliary force and the safety boundary according to the real-time state of the patient, and effectively improves the safety and individuation suitability of training.

Inventors

LI XIAOLIU
JI JIE
LI ZHIFENG
LI YUANHAO
ZHANG YUE

Assignees

上海市闵行区中心医院

Dates

Publication Date: 20260505
Application Date: 20260121

Claims (10)

1. The self-adaptive closed-loop control method for hand joint rehabilitation is characterized by comprising the following steps of: Acquiring geometrical parameters of an actuating mechanism and an articulation kinematics baseline, performing complex motion track parameter registration, compensation parameter registration and fixed configuration field mapping processing, and generating a motion track and a fixed configuration structure; Based on the motion trail and the fixed configuration structure, executing rehabilitation training session configuration generation, individuation safety threshold version record generation and threshold comparison configuration loading operation, and generating a real-time acquisition and threshold comparison configuration structure; Acquiring a real-time acquisition and threshold comparison configuration structure, performing real-time acquisition data packet construction, motion intention and spasticity discrimination processing and control instruction generation operation, and generating a motor output control instruction sequence structure; And acquiring a motor output control instruction sequence structure, generating a rehabilitation parameter archiving data packet, generating a rehabilitation database index record, packaging a progress report, and generating a progress report and a threshold updating record structure.
2. The method of claim 1, wherein the process of compensating for parameter registration further comprises: The compensation parameter registration processing comprises an arc track section parameter field, an Archimedes spiral track section parameter field and a splicing point number field in a composite motion track parameter set, performs joint check with the geometric parameters of an executing mechanism, completes origin selection and direction contract binding of a compensation coordinate system, and generates a direction compensation parameter field and a distance compensation parameter field, wherein the direction compensation parameter field comprises a direction bias angle, a direction bias symbol, an axial mapping relation identifier and a compensation effective section identifier, and the distance compensation parameter field comprises a zero position distance bias, a travel return difference correction quantity, a fixed point tensioning quantity correction caliber and a compensation effective section identifier.
3. The method of claim 1, wherein the process of the fixed configuration field mapping process further comprises: The fixed configuration field mapping process comprises end support mounting hole position coordinates in the geometric parameters of the execution mechanism and joint slip direction conventions in the joint kinematics base line, and generates a fixed point mapping table field, a strap tensioning gear field and a training action configuration table field, wherein the fixed point mapping table field comprises an equipment end fixed point number, a patient end fixed point number, an external force acting point number, a strap path number, a strap contact surface identifier and a fixed point check time tag, the strap tensioning gear field comprises a gear number, a tensioning caliber, a locking state mark and a tensioning check time tag, and the training action configuration table field comprises an action number field, an action type field, a segment sequence reference field, a splice point sequence reference field, an intra-segment speed planning identification reference field, an intra-segment parking time tag reference field, a direction compensation effective segment identification reference field and a distance compensation effective segment identification reference field.
4. The method of claim 1, wherein performing a rehabilitation training session configuration generation further comprises: The rehabilitation training session configuration generation process comprises a composite motion track parameter set field, a compensation parameter set field, a fixed point mapping table field and a training action configuration table field in a motion track and fixed configuration structure, a patient file data packet and a threshold updating record structure are synchronously accessed, a session number field, an angle sensing channel number field, a moment sensing channel number field and an acquisition scheduling parameter field are generated, wherein the session number field comprises a device identification segment, a patient identification segment, a session start time tag segment and a random weight prevention segment, the angle sensing channel number field comprises a channel number, a sampling pitch caliber, a measuring range caliber, a zero calibration mark and a channel state mark, the moment sensing channel number field comprises a channel number, a sampling pitch caliber, a measuring range caliber, a zero drift calibration mark and a channel state mark, and the acquisition scheduling parameter field comprises an acquisition period mark, a sliding time window length mark, a cache partition number mark and a missing tolerance caliber mark.
5. The method of claim 1, wherein the process of individualizing the security threshold version record generation further comprises: The personalized safety threshold version record generation process comprises a patient identification mark, patient side information, a past evaluation record index and a training limit remark in a patient file data packet, and a threshold version number, a threshold time label and an update source mark in a threshold update record structure, so that a patient capacity evaluation field, an angle safety interval field, a moment safety interval field, a threshold version number field and a threshold time label field are generated, wherein the patient capacity evaluation field comprises an evaluation source mark, an evaluation time label, a joint initiative degree record index, a muscle tension grading record index and a pain subjective record index, the angle safety interval field comprises an angle lower boundary, an angle upper boundary, a boundary source mark and a boundary constraint mark, and the moment safety interval field comprises a moment lower boundary, a moment upper boundary, a boundary source mark and a boundary constraint mark.
6. The method of claim 1, wherein performing the process of real-time acquisition packet construction further comprises: The real-time acquisition data packet construction process comprises an angle sensing channel number field, a moment sensing channel number field and an acquisition scheduling parameter field in a real-time acquisition and threshold comparison configuration structure, acquisition frame number binding, channel calibration and threshold field loading and missing segment marking process are executed, real-time acquisition data packets are generated, wherein the acquisition frame number binding comprises frame level alignment of an angle sampling sequence field and a moment sampling sequence field according to the acquisition frame number sequence field, the channel calibration and threshold field loading comprises zero calibration marks in the angle sensing channel number field and zero drift calibration marks in the moment sensing channel number field, channel zero calibration and zero drift calibration are executed, an angle safety interval field and a moment safety interval field are written into the real-time acquisition data packets, missing segment marking process comprises continuous check and time interval check of the acquisition frame number sequence field, and missing segment marking is generated.
7. The method of claim 1, wherein the process of motor intent and spasticity discrimination processing further comprises: The method comprises the steps of performing motion intention and spasticity judging processing, namely acquiring an angle sampling sequence field and a moment sampling sequence field in a data packet in real time, performing threshold comparison marking sequence generation, motion state characteristic extraction and spasticity triggering fragment marking, and generating a motion intention and spasticity judging result, wherein the threshold comparison marking sequence generation comprises the step of performing interval judgment on an angle sampling value and an angle lower boundary and an angle upper boundary to generate an angle comparison marking, the step of performing interval judgment on the moment sampling value and the moment lower boundary and the moment upper boundary to generate a moment comparison marking, merging conflict processing subfields in a threshold comparison rule field to generate a threshold comparison marking sequence field, the motion state characteristic extraction comprises the step of performing intra-window angle change trend extraction, moment change trend extraction and synchronicity judgment on the angle sampling sequence field and the moment sampling sequence field, the step of generating a motion intention marking sequence field, and the spasticity triggering fragment marking comprises a moment mutation section and a directionality judging result, and combining the threshold comparison marking sequence field to generate a spasticity marking sequence field.
8. The method of claim 1, wherein controlling the process of instruction generation operations further comprises: The control instruction generating operation comprises a motion intention label sequence field, a threshold comparison mark sequence field and a cramp fragment mark sequence field in a motion intention and cramp state judging result, and an adaptive control parameter table field and an acquisition scheduling parameter field in a real-time acquisition and threshold comparison configuration structure, and executes control instruction mapping, output limiting and instruction issuing processing to generate a motor output control instruction sequence structure, wherein the control instruction mapping comprises mapping the motion intention label sequence field into a motor target output sequence field according to a control instruction mapping caliber and an action section association caliber in the adaptive control parameter table field, the output limiting comprises a threshold comparison mark sequence field and a cramp fragment mark sequence field, cutting and change rate constraint is executed on a target output value by combining a conventional limiting boundary and an abnormal limiting boundary in the output limiting parameter field, the instruction issuing comprises generating a control period triggering event according to an acquisition period mark in the acquisition scheduling parameter field, and writing the target output value into a driving motor control interface.
9. The method of claim 1, wherein the process of progressing reporting encapsulation processing further comprises: The report field extraction and formatting package comprises extracting an angle range abstract field, a speed change abstract field, a torque peak segment abstract field and a control instruction abstract field from the angle archive sequence field, the torque archive sequence field, the speed archive sequence field and the instruction archive sequence field, writing the angle range abstract field, the speed change abstract field, the torque peak segment abstract field and the control instruction abstract field into a report archive object, and the threshold update record field registration comprises a threshold version number field and a threshold time label field, and generates a threshold update record structure field by combining an output limiting parameter field and a cramped fragment labeling sequence field.
10. The hand joint rehabilitation self-adaptive closed-loop control system is characterized by comprising a hand joint rehabilitation self-adaptive closed-loop control system, a rehabilitation training session configuration structure generation module, an individuation safety threshold version record and real-time acquisition and threshold comparison configuration structure generation module, a real-time acquisition data packet generation module, a movement intention and spasticity judging module, a motor output control instruction sequence structure generation module, a rehabilitation parameter archiving data packet generation module, a rehabilitation database index record and progress report and threshold updating record structure generation module, and is used for realizing the method according to any one of claims 1-9.

Description

Self-adaptive closed-loop control method and system for hand joint rehabilitation Technical Field The invention relates to the field of medical rehabilitation training control, in particular to a hand joint rehabilitation self-adaptive closed-loop control method and system. Background In the field of medical rehabilitation training control, the existing scheme of hand joint rehabilitation training generally carries out motion trail setting around geometric parameters of an executing mechanism and joint kinematics baselines, and carries out rehabilitation training session configuration generation and real-time acquisition data packet construction in the training process, and has the limitations of unclear correlation between the motion trail and a fixed configuration structure and the rehabilitation training session configuration generation, explicit dependence between individualized safety threshold version record generation and threshold comparison configuration loading, inconsistent caliber between motion intention and spasticity judging processing and control instruction generating operation and the like. The existing method mainly carries out composite motion track parameter registration, compensation parameter registration and fixed configuration field mapping processing and threshold comparison configuration loading separately, takes recovery parameter archiving data packet generation, recovery database index record generation and progress report encapsulation processing as post-independent links, is easy to realize the connection discontinuity between a real-time acquisition and threshold comparison configuration structure and a motor output control instruction sequence structure and the field source of a progress report and threshold update record structure in the scene of participation constraint in the generation of an individualized safety threshold version record, and is difficult to trace back, so that the stable realization of hand joint recovery self-adaptive closed-loop control is difficult to be satisfied. Aiming at the joint processing of the geometric parameters of an executing mechanism and a joint kinematics baseline, a motion track and fixed configuration structure, a real-time acquisition and threshold comparison configuration structure and a motor output control instruction sequence structure, the prior art generally lacks the field mapping and consistent constraint of penetration between a threshold version record and session configuration, a judging result and control instruction and an archiving data packet and database index record, and is difficult to form the consistent flow of complex motion track parameter registration and fixed configuration field mapping processing, real-time acquisition data packet construction, motion intention and spasticity judging processing, control instruction generation operation, rehabilitation parameter archiving data packet generation, rehabilitation database index record generation and progress report encapsulation processing in the hand joint rehabilitation training process, so that the continuity of a threshold updating record structure and a session link is insufficient and the management and the traceability of rehabilitation training data are influenced. Disclosure of Invention In order to solve the technical problems, the invention provides a hand joint rehabilitation self-adaptive closed-loop control method, which comprises the following steps: Acquiring geometrical parameters of an actuating mechanism and an articulation kinematics baseline, performing complex motion track parameter registration, compensation parameter registration and fixed configuration field mapping processing, and generating a motion track and a fixed configuration structure; Based on the motion trail and the fixed configuration structure, executing rehabilitation training session configuration generation, individuation safety threshold version record generation and threshold comparison configuration loading operation, and generating a real-time acquisition and threshold comparison configuration structure; Acquiring a real-time acquisition and threshold comparison configuration structure, performing real-time acquisition data packet construction, motion intention and spasticity discrimination processing and control instruction generation operation, and generating a motor output control instruction sequence structure; And acquiring a motor output control instruction sequence structure, generating a rehabilitation parameter archiving data packet, generating a rehabilitation database index record, packaging a progress report, and generating a progress report and a threshold updating record structure. Further, the process of compensating parameter registration further includes: The compensation parameter registration processing comprises an arc track section parameter field, an Archimedes spiral track section parameter field and a splicing point number field in a composi