CN108720975B - Walking exoskeleton for correcting foot varus - Google Patents

Abstract

The invention provides an auxiliary device for preventing and correcting a patient with varus foot, which aims to solve the problem that the patient with varus foot turns over the load of the plantar outer edge of the foot on the instep side of the thigh during walking in a standing way, so as to achieve the aims of correcting the walking posture and assisting walking. The toe cap fixer is connected to the front sole bending joint through a connecting joint, and the front sole bending joint is internally provided with a bearing, so that the sole and the toes can bend and adaptively change angles to walk when walking, the lengths of the toes and the heels can be adjusted through the telescopic rod, and the legs of a patient are fixed with the footsteps of wearing shoes. The invention can be used for correcting the angle of the foot step when a patient with slight foot varus walks, and the ankle movable joint is convenient for the patient to walk and move. The invention removes the limitation of the normal activities of the sole and ankle of the patient while ensuring the optimal correction effect, and brings great convenience to doctors and patients.

Description

A walking exoskeleton for correcting foot varus

Technical field

The invention belongs to the technical field of medical equipment and is a medical device for preventing and correcting foot drop, foot varus and foot valgus.

Background technique

Foot inversion and foot drop are common movement disorders, and nearly half of the more severe foot inversion and foot drop require treatment. Severe spasticity can lead to various complications, including skin damage, venous thrombosis and phlebitis, pain, difficulty in carrying, and difficulty in excretion of sputum. Long-term limited activity will lead to osteoporosis, contracture, and joint deformity. . Motor neurone disease injuries such as cerebral palsy, stroke, traumatic brain injury, spinal cord injury, neuronal disease, and multiple sclerosis can cause foot pronation and foot drop, which are the main causes of lower limb disability. Patients' walking and daily activities are greatly restricted, and some even become disabled. Correcting foot inversion and foot drop is one of the most important treatments to improve patients' personal living abilities.

At present, in the known technology, the existing equipment for correcting foot drop, foot varus and foot valgus mainly consists of an elastic sling and a sole support plate. The sole support plate is placed on the sole of the foot to cover the elastic sling, and the elastic sling is hung on the neck. . Its structure is complex, inconvenient to use, and the rehabilitation effect is not ideal. The main reason is that during the patient's daily walking process, the conventional orthosis cannot match the patient's forefoot and ankle joint bending well.

Contents of the invention

In order to overcome the shortcomings of the existing technology and solve the problems that the existing orthotics for foot drop, foot varus and foot valgus are cumbersome to apply and have unsatisfactory rehabilitation effects, the purpose of the present invention is to provide a device with reasonable structure and good rehabilitation effect. Convenient new orthodontic device.

The technical solution adopted by the present invention is: a walking exoskeleton for correcting foot varus, including a toe head fixator, a connecting joint, a forefoot bending joint, a foot length telescopic rod, an exoskeleton main body, a heel fixator, Ankle joint movable axis, ankle joint movable axis handle, elastic band a, elastic band b, wherein the toe head fixator and heel fixator have grooves, which can clamp the toe tip and heel of the patient from the front and rear ends. Tightly fasten with elastic band a for peripheral fixation.

1) The foot length telescopic rod is composed of a telescopic rod and a cylindrical seat. Adjust the length of the sole of the foot by adjusting the knob on the main body of the exoskeleton; adjust the forward and backward telescopic distance of the forefoot flexion joint through the sole of the foot length telescopic rod; the inner side of the bearing of the forefoot flexion joint is placed on the cylindrical seat of the sole of the foot length telescopic joint, which ensures When the patient walks, the forefoot flexion joint enables the orthosis and the patient's forefoot to achieve adaptive synchronized flexion.

2) The ankle joint of the exoskeleton body has round holes and semicircular grooves for nesting the ankle joint movable shaft. The bottom of the ankle joint movable shaft handle is a semicircular structure and has a raised cylinder on one side. The diameter of the ankle joint movable axis is equal to the diameter of the circular hole on the upper part of the exoskeleton body, and the semicircle diameter at one end of the ankle joint movable axis is equal to the diameter of the semicircular groove on the exoskeleton main body. The ankle joint movable axis is connected to the exoskeleton main body, and the ankle joint movable axis The front and rear rotation of the handle is -15 to 15°. This ensures that when the patient walks, the ankle joint movable axis can enable the orthosis and the patient's ankle joint to achieve adaptive synchronous bending.

3) Two leg fixation plates are installed on the upper side of the ankle joint movable shaft, and the two leg shin guards and the patient's legs are fixed by using elastic bands b.

The present invention will be further described below in conjunction with the accompanying drawings and examples.

Description of the drawings

Figure 1 is a front view of a walking exoskeleton for correcting foot varus of the left foot according to the present invention.

Figure 2 is an installation diagram of the forefoot bending joint and the sole length adjustment rod of the walking exoskeleton for correcting foot varus of the left foot according to the present invention.

Figure 3 is a schematic structural diagram of the ankle joint activity axis of the walking exoskeleton for correcting foot varus of the left foot according to the present invention.

The exoskeleton structure of the right foot is symmetrical to that of the left foot.

Legend: Including toe fixator (1), connecting joint (2), forefoot flexion joint (3), foot length telescopic rod (4), exoskeleton main body (5), heel fixator (6), ankle joint Movable shaft (7), ankle joint movable shaft handle (11), elastic band a (8), elastic band b (9), leg guard (10), groove (12), bearing holder (31), bearing (32) , cylindrical seat (41), telescopic rod (42), knob (52), telescopic groove (51), groove (53), round hole (54) and semicircular groove (55).

Detailed ways:

The present invention will be further described below with specific embodiments in conjunction with the accompanying drawings.

1) As shown in Figure 1, a walking exoskeleton for correcting foot varus, including: toe fixator (1), connecting joint (2), forefoot flexion joint (3), and foot length telescopic rod (4 ), the forefoot flexion joint (3) is rigidly connected to the toe fixator (1) through the connecting joint (2), and the heel fixator (6) is rigidly connected to the exoskeleton main body (5); the walking exoskeleton The bottom is a hollow sole frame.

2) As shown in Figure 2, the distance between the toe fixator (1) and the heel fixator (6) can be adjusted by adjusting the knob (52) on the exoskeleton body (5). The elastic band a (8) is fixed on one end of the toe holder (1), passes through the heel holder (6) along the edge of the shoe, and is finally fixed on the outermost side of the exoskeleton (5) on the edge of the shoe through a Velcro fastener.

3) As shown in Figure 2, the forefoot flexion joint (3) and the sole length telescopic rod (4) are located on the side of the patient's shoe, and the length of the sole frame can be adjusted according to the patient's different shoe lengths, and the adjustment length is 0 to 5cm. When walking, the front end of the foot frame can bend adaptively with the patient's forefoot, which can avoid the circling gait and thus assist the patient in walking.

4) As shown in Figure 2, the bearing (32) of the forefoot flexion joint (3) is connected to the cylindrical seat 41 of the foot length telescopic rod and is fixed by the bearing holder (31).

5) As shown in Figure 2, the telescopic rod (42) of the sole-length telescopic rod (4) can be inserted into the telescopic groove (51) of the exoskeleton body (5) to adjust the length of the telescopic rod through the knob (52).

6) As shown in Figure 2, the toe of the patient's shoe is placed in the groove (12) of the toe holder (1), and the heel of the patient's shoe is placed in the groove (53) of the heel holder (6).

7) As shown in Figure 3, the ankle joint shaft on the exoskeleton body (5) is a round hole (54) and a semicircular groove (55) for nesting the ankle joint movable shaft (7), the ankle joint movable shaft handle (11) ) front and back rotation -15 to 15° angle. This ensures that when the patient walks, the ankle joint movable axis can enable the orthosis and the patient's ankle joint to achieve adaptive synchronous bending.

To sum up, in order to solve the problem that conventional orthotics cannot match the bending degree of the patient's forefoot and ankle joint well, the present invention proposes a correction device that can adapt to the bending degree of the patient's forefoot and ankle joint during walking. device. The main innovation is: the designed foot length telescopic rod is used to adjust the front and rear telescopic distance of the forefoot flexion joint. At the same time, the designed forefoot flexion joint can provide the orthosis with more freedom of movement of the forefoot. Through the designed The ankle joint axis of movement provides the orthosis with more freedom of movement of the ankle joint. In this way, during the patient's walking process, the orthosis and the patient's forefoot and ankle joints can achieve adaptive and synchronous bending, thereby improving the correction effect.

Claims (2)

1. A walking exoskeleton used to correct foot varus, including a toe fixator (1), connecting joints (2), forefoot flexion joints (3), foot length telescopic rods (4), and an exoskeleton main body ( 5), heel fixer (6), ankle joint movable shaft (7), ankle joint movable shaft handle (11), elastic band a (8), elastic band b (9), leg guard (10), groove (12) ), bearing holder (31), bearing (32), cylindrical seat (41), telescopic rod (42), knob (52), telescopic groove (51), groove (53), round hole (54) and semicircle Groove (55), characterized by: The forefoot flexion joint (3) is rigidly connected to the toe fixator (1) through the connecting joint (2), and the heel fixer (6) is rigidly connected to the exoskeleton main body (5); the bottom of the walking exoskeleton It is a hollow sole frame; The elastic band a (8) is fixed on one end of the toe holder (1), passes through the heel holder (6) along the edge of the shoe, and is finally fixed to the outermost side of the exoskeleton body (5) on the edge of the shoe through a Velcro fastener; The forefoot flexion joint (3) and the foot length telescopic rod (4) are located on the side of the patient's shoe; The bearing (32) of the forefoot flexion joint (3) is connected to the cylindrical seat (41) of the foot length telescopic rod (4) and fixed by the bearing holder (31); The telescopic rod (42) of the foot length telescopic rod (4) is inserted into the telescopic groove (51) of the exoskeleton body (5), and the length of the telescopic rod (42) is adjusted by the knob (52); The toe of the patient's shoe is placed in the groove (12) of the toe holder (1), and the heel of the patient's shoe is placed in the groove (53) of the heel holder (6); The ankle joint axis on the exoskeleton body (5) is a round hole (54) and a semicircular groove (55) for nesting the ankle joint movable axis (7), and the front and rear rotation angle range of the ankle joint movable axis handle (11) is -15~15°; Two leg fixing plates are installed on the upper side of the ankle joint movable shaft (11), and elastic bands b (9) are used to fix the wearer's lower legs and the leg guards on the ankle joint movable shaft (11). 2. A walking exoskeleton for correcting foot varus according to claim 1, characterized in that: the bottoms of the toe fixator (1) and the heel fixator (6) respectively extend 1 to 3 cm inward. Used to prevent the shoe from detaching from the binding.