Robotic pulmonary rehabilitation training system based on dyspnea feedback

Abstract

The invention discloses a dyspnea difficulty feedback based robot pulmonary rehabilitation system which comprises a wearable breathe sensing and monitoring system and a pulmonary rehabilitation training robot. The wearable breathe sensing and monitoring system utilizes a wearable inertial sensor, a surface muscle electric sensor and a tactile sensor to monitor breathing information of a patient, utilizing an electronic nose to monitor the expiration amount of the patient and gas flowing speed and accordingly obtains the breathing retardation situation of the patient to conduct quantization treatment on the breathing difficulty degree of the patient. The dyspnea difficulty feedback based robot pulmonary rehabilitation system utilizes detected patient's breathing difficulty degree, biomechanical information including the breathing retardation situation and the like, body situation of the patient and the pulmonary rehabilitation training action requirements to guide a pulmonary rehabilitation training robot to assist the patient to perform corresponding training, achieves real-time interaction between the robots and the patient, reduces the rehabilitation training burden of the patient and improves rehabilitation training dependency of the patient.

Description

technical field [0001] The invention relates to the field of medical equipment, in particular to quantify the dyspnea of ​​patients with chronic obstructive pulmonary disease, monitor in real time and guide rehabilitation training robots based on the biomechanical information to assist patients in respiratory rehabilitation training and improve the training dependence of patients. Background technique [0002] Chronic obstructive pulmonary disease (COPD) is the third leading cause of death in the world. It not only seriously affects the physiological function and quality of life of patients, but also increases the hospitalization rate and mortality, and brings huge economic burden to families and society. Due to the general decline of urban air quality in recent years and the influence of factors such as living habits, the incidence of COPD among people over 40 years old in my country is 8.2%, ranking second in the cause of death in my country, and the number of people who di...

AI Technical Summary

Problems solved by technology

However, in the study of robot-assisted exercise training that collects human respiratory dynamics information in real time and feeds back the patient's dyspnea, there are few successful clinical application examples. Difficulty, the current clinical evaluation of dyspnea in patients mainly uses subjective sensory evaluation, lacks accurate models, real-time analysis and calculation methods for COPD patients' breathing smoothness through the fusion of non-invasive measurement data, and provides feedback for rehabilitation assistance robots, and Provide quantitative rehabilitation evaluation parameters for patients and doctors; (2) It is necessary to solve the problem of friendly interaction between sports rehabilitation robots and COPD patients. Since the movement space of the robot and the patient is highly intersected, the robot needs to dynamically capture the basic muscle strength of different limbs of the patient , so as to give different auxiliary forces to different limbs to assist patients to complete limb movements, so the lack of real-time and accurate human internal force information, including joint torque, joint force, joint energy and muscle tension, will affect the clinical application of robots in pulmonary rehabilitation obstacle

(3) Clinically, there is a lack of quantitative exercise training prescriptions to stabilize patients’ exercise training compliance. If the parameters such as systemic muscle exercise endurance and dyspnea of ​​individual patients with chronic obstructive pulmonary disease can be integrated with the rehabilitation robot training program design, it will be beneficial. Help stabilize patients' exercise training compliance, and provide a theoretical basis for medical staff to formulate progressive pulmonary rehabilitation training programs for patients

Images