Technical field

The invention involves an optimized method of dynamic discharge of load and/or static suspension in vertical position for patients with damage of locomotory system during therapeutic movement on a running or walking treadmill or other rehabilitation equipment, or when transporting patients on that equipment. The invention also involves equipment for performing this method.

Background ^" of the invention

Rehabilitation facilities Currently lift patients using suspension systems that use weights or manual winding systems to balance the patient's weight.

From Japanese patent 10179559, for example, a suspension device is known for lifting the patient during therapeutic walking on a moving walkway, and it consists of a suspension frame with ^" a pulley system and counterweight. This involves stabilization ¹ of the amount of the patient's lifted body weight through constant adjustment ^" of the counterweight. However, here the optimal dynamic relief is not achieved, because this principle ^" displays delayed movement of the counterweight caused by friction and by gravity itself. The dynamic relief reaction is thus delayed and sometimes even conflicts.

Up to now there have been relief/support systems equipped with one or two slings, used for lifting the patient by a purely mechanical principle. Additionally, many have stationary, firmly fixed frames, or frames that slide in only limited fashion and must be moved manually by the operator. However, this complicates transport of patients with limited movement oh the rehabilitation equipment and rules out more universal, effective use of one suspension device for more than one rehabilitation device— such as for a running or walking treadmill.

Subject matter of the invention

To remove the aforementioned insufficiencies, a significant contribution is made by the optimized method for dynamic decompression and/or static suspension in vertical position for patients with musculoskeletal damage according to the invention. The principle of the invention consists in the fact that the patient hangs from at least one suspension rope, whereupon the suspension rope(s) is maintained at a constant, predefined tension either through continuous tensometric measurement of tensile force in the suspension rope and its operative correction to a predefined value, or by action of the servo motor of a coiling mechanism for the suspension rope in torque mode. This occurs in such a way that the position of the servo motor's axis is continuously read, and if changes in the axis position are detected, in a response of tens of milliseconds that position is then corrected in such a way that during this time the motor achieves maximum torque force and returns to the original position.

The principle of the equipment for performing the method according to the invention consists in the fact that this suspension equipment is formed by at least one winding mechanism placed on the frame of the suspension device and contains a winding drum, guide pulleys, a suspension rope and a drive with a synchronous servo motor with permanent magnets on a rotor and coil on a stator. This servo motor is equipped with a control system with switch-over from position mode and torque mode along with an element for automatic reading of the servo motor's axis position connected to a software module for correction of the axis position by return to the original position in tens of milliseconds in the control system.

In the preferred embodiment there can be a suspension device according to the intention formed by only one winding mechanism that is firmly placed on the frame of the suspension device and contains a winding drum, guide pulleys, a suspension rope and a drive with a synchronous servo motor. At the end of the suspension rope is fixed to the central part of the transverse beam, on whose ends are attached shoulder straps for suspending the patient.

The suspension device according to the invention can also preferentially contain a safety circuit with initialization and a limit switch, or also a touchscreen control system for driving the winding mechanism.

The benefit of the optimized method according to the invention and the equipment for its performance is mainly achieving constant, predefined tension at any height of suspension and with a reaction time of the servo motor or winding mechanisms for overload and subsequent correction controlled by a software module in tens of milliseconds. Brief description of the drawing

Further clarification of the fundamentals of the invention is provided by the attached drawing, in which fig. 1 shows a diagram of the equipment for dynamic decompression and/or static suspension in vertical position for patients with musculoskeletal damage in the exemplary embodiment.

Examples

Example 1

The optimized method for dynamic decompression and/or static suspension in vertical position for patients with musculoskeletal damage in an exemplary embodiment consisting in the fact that the patient hangs from one suspension rope. This suspension rope is maintained at a constant, predefined tension by the action of the servo motor of the winding mechanism for the suspension rope in torque mode in such a way in the exemplary embodiment that the position of the servo motor's axes is read every millisecond, and if changes in the axis position are detected, in a response of tens of milliseconds that position is then corrected in such a way that during this time the motor achieves maximum torque force and returns to the original position.

The equipment for performing the method according to the invention in the exemplary embodiment (see fig. 1) is formed by one winding mechanismi that is placed on the frame of the suspension device and contains a winding drum, guide pulleys, a suspension rope2 and a drive with a synchronous servo motor3 with permanent magnets on a rotor and coil on a stator. At the end of the suspension rope2 is fixed to the central part of the transverse beam,4 on whose ends are attached shoulder straps5 for suspending the patient.

The servo motor3 of the winding mechanismi is equipped with a control system with switching from position mode to torque mode— position mode serving to raise and lower the patient, while torque mode is for dynamic decompression of the patient. In the control's torque mode, constant force— tension— is maintained on the motor's axis and in this case on the wound suspension rope,2 which achieves decompression of the suspended object, in our case a patient. Additionally, servo motors! driving the winding mechanismi ^" are also equipped with elements that automatically read the position of the axis of the servo rnotorS. connected to the software module for correcting the position of the axes in the control system. If the suspension rope2 and winding mechanismi cause a change ih the position of the axis of the servo motor,3 a software position correction module in the control system evaluates this and sends the servo motorS a command to return the axis to its original position.

The suspension device in the exemplary embodiment also contains a safety circuity with initialization and a limit switch, and a touchscreen control system for driving the winding mechanism.l

Example 2

The optimized method for dynamic decompression and/or static suspension in vertical position for patients with musculoskeletal damage in an exemplary embodiment consisting (similarly to that in the previous example) in the fact that the patient hangs from one suspension rope, 2 _ However, in contrast to example 1. this suspension rope is maintained at a constant, predefined tension through continuous tensometric measurement of tensile force in the suspension rope2 and its operative correction to a predefined value. ..· ^■■ . ; ,· .? . In the equipment for performing this method, similarly to example 1 , at the end of the suspension rope2 is fixed to the central part of the transverse beam,4 on whose ends are attached shoulder straps5 for suspending the patient.