中国组织工程研究

中国组织工程研究 ›› 2010, Vol. 14 ›› Issue (4): 621-624.doi: 10.3969/j.issn.1673-8225.2010.04.011

• 数字化骨科 digital orthopedics • 上一篇    下一篇

一种组合式远程康复训练机器人的研制：适用性及其安全性

彭  思1，杨  硕1，宋爱国1，秦鸿云2   

  1. 1 东南大学仪器科学与工程学院远程测控技术江苏省重点实验室，江苏省南京市 210096；2 东南大学附属中大医院康复医学科，江苏省南京市 210009
  • 出版日期:2010-01-22 发布日期:2010-01-22
  • 作者简介:彭 思★，东南大学在读硕士，主要从事远程康复机器人的研究。 chirsting101@163.com

Design of a combination robot for tele-rehabilitation training: Applicability and safety

Peng Si1, Yang Shuo1, Song Ai-guo1, Qin Hong-yun2   

  1. 1 Key Laboratory of Remote Measurement and Control of Jiangsu Province, School of Instrument Science and Engineering, Southeast University, Nanjing  210096, Jiangsu Province, China; 2 Department of Rehabilitation, Zhongda Hospital, Southeast University, Nanjing  210006, Jiangsu Province, China
  • Online:2010-01-22 Published:2010-01-22
  • About author:Peng Si★, Studying for master’s degree, Key Laboratory of Remote Measurement and Control of Jiangsu Province, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, Jiangsu Province, China chirsting101@163.com

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摘要：

背景：国内对康复机器人的研究起步比较晚，辅助型康复机器人的研究相对较多，而康复训练机器人的研究相对较少，医工跨学科的结合有待加强，国内的康复器械远远不能满足市场对智能化、人机工程化的康复机器人的需求。
目的：针对国内康复专家少而患者较多这一问题，将遥操作机器人技术与康复医疗器械相结合，以期研制一种基于力反馈的组合式远程康复训练机器人系统。
方法：充分考虑到患者的安全性，采用磁流变阻尼器加上直流电机的模式，设计了一种组合式机械臂，将遥操作机器人技术应用于肢体残障者的康复训练，使患者可以根据康复治疗师的远程设定进行康复锻炼，并将虚拟现实技术与康复训练相结合，把枯燥的康复训练变成轻松有趣的游戏。
结果及结论：该系统的服务对象是上肢有运动障碍的患者，通过对机械臂的拆卸和组合，可给患者提供康复需要的不同训练模式和治疗方案；运用计算机网络技术可使患者根据康复医师的远程设定进行康复训练；身临其境的虚拟现实技术显著提高了康复训练的积极性与效果。实验结果表明，所研制的远程康复训练机器人系统具有良好的适用性和安全性。

关键词: 远程监控, 组合式机械臂, 磁流变阻尼器, 康复训练, 数字化医学

Abstract:

BACKGROUND: The studies concerning rehabilitation robot step later in China, many of which are assisted rehabilitation robot rather than rehabilitation training robot. Currently, the rehabilitation instruments in China can not satisfy the intelligentification and man-machine engineered requirement of robots.  
OBJECTIVE: Considering the predicament of supply and demand relationship of medical service for rehabilitation, to propose a combined robot system for assisted tele-rehabilitation based on remote operation technology and medical device.
METHODS: Considering the safety, magneto-rheological damper and direct current machine was adopted to design a combined manipulator, which utilizing tele-robot technology in training limb disability patients. According to the remote setting of rehabilitation therapist, patients could perform rehabilitation exercise, which can realize real-time and precision of stiffness display.
RESULTS AND CONCLUSION: The clients are patients who have upper limbs movement disorders. Through disassembly and combination of the mechanical arms, it can provide different training modes and therapeutic schemes. The adoption of computer network technology allows the patients to accomplish rehabilitation according to the settings of the physicians via internet; the applications of virtual reality technology greatly raise the enthusiasm in patients and improve the rehabilitation effect remarkably. The experimental results show that the system has good applicability and safety.

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