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CN109562265A - 矫形外科技术系统和用于控制该系统的方法 - Google Patents

矫形外科技术系统和用于控制该系统的方法 Download PDF

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Publication number
CN109562265A
CN109562265A CN201780046204.0A CN201780046204A CN109562265A CN 109562265 A CN109562265 A CN 109562265A CN 201780046204 A CN201780046204 A CN 201780046204A CN 109562265 A CN109562265 A CN 109562265A
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CN
China
Prior art keywords
orthopedic
component
sensor
muscle
resistance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201780046204.0A
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English (en)
Inventor
H·迪特尔
R·奥伯格
C·霍费尔
M·F·拉索德
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Otto Bock Healthcare Products GmbH
Original Assignee
Otto Bock Healthcare Products GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Otto Bock Healthcare Products GmbH filed Critical Otto Bock Healthcare Products GmbH
Publication of CN109562265A publication Critical patent/CN109562265A/zh
Pending legal-status Critical Current

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Abstract

本发明涉及一种矫形外科技术系统，具有：a.用于激活至少一个肌肉的至少一个刺激电极(10)，b.矫形或假肢装置(20)，该矫形或假肢装置能够施加在病人的身体上并且能够固定在其身体上，该矫形或假肢装置具有至少一个关节(41、42)，通过该关节使所述矫形或假肢装置(20)的近中部件和远中部件(21、22；22、23)能枢转地相互连接，c.至少一个能调整的阻力装置(30)，该阻力装置布置在所述远中部件和所述近中部件(21、22)之间并且通过该阻力装置能够调节抵抗所述近中部件(21)相对于所述远中部件(22)的偏转的运动阻力，d.用于感测力、位置、加速度和/或和/或力矩的传感器(61、62、63、64、65、66)，e.控制装置(50)，该控制装置与所述传感器(61、62、63、64、65、66)和所述阻力装置(30)耦合，处理所述传感器(61、62、63、64、65、66)的传感器值，并且根据所述传感器值调整所述阻力装置(30)。

Description

矫形外科技术系统和用于控制该系统的方法
技术领域
本发明涉及一种矫形外科技术系统，该系统具有用于激活至少一个肌肉的至少一个刺激电极和可施加在病人的身体上并且可固定在其上的矫形或假肢装置，该矫形或假肢装置具有至少一个关节，通过该关节使矫形或假肢装置的近中和远中部件可枢转地相互连接。本发明同样涉及一种用于控制这种矫形外科技术系统的方法，在所述方法中通过所述至少一个刺激电极激活病人的至少一个肌肉。
背景技术
由US 7,403,821 B2已知一种用于产生病人足部的背侧屈曲的方法，在所述方法中将刺激电极和信号感测电极布置在大腿的至少一个末梢神经上。通过电极接收并处理神经信号，以便确定表明在行走过程中足跟碰撞或足跟抬起的时间点的运动或动作。根据所探测的动作激活刺激电极，以便产生病人的足部的背侧屈曲。
EP 1 257 318 B1涉及一种用于产生背侧屈曲和用于刺激运动神经纤维的设备，该设备具有用于接收和处理所探测的神经信号并且用于产生刺激信号的器件，其中，所述设备包括组合的探测和刺激电极设备并且构造为组合电极。设置有用于使每个组合电极在探测状态和刺激状态之间转换的器件。组合的探测和刺激电极设备可植入地构造。
此外，由现有技术已知，例如用于下肢的假肢装置配备有阻力装置并且根据所获知的传感器值进行运动阻力的适配。这种设备和这种方法例如由DE 10 2009 052 887 B1已知。
需要假肢装置的人可能在肌肉组织的故意激活中具有附加的损伤。同样的适用于依赖下肢的矫形装置的人，例如由于事故、神经元损坏或故意激活的其他损伤。此外，缺少的感觉反馈会损害病人的灵活性，从而可能出现变差的步态或下肢的一般功能的基本损伤。该损伤的原因可以是瘫痪、在医疗干预后的肌肉缺陷或肿瘤疾病、中风、其他大脑障碍或类似疾病。
此外，存在具有外部的、通常是电动的驱动器的假肢或矫形装置，以便补偿肌肉组织的运动缺陷。这种主动的假肢或矫形器是非常重的，需要高能量耗费并且通常引起干扰噪声。在US 5 246 465 A中描述用于主动的假肢的示例。
发明内容
本发明的任务是，提供不引人注目的矫形外科技术系统和用于控制该系统的方法，通过所述方法能够改善病人的运动模式、尤其是病人的步态。
根据本发明，该任务通过具有主要权利要求的特征的矫形外科技术系统以及具有并列权利要求的特征的方法来解决。本发明的有利的构型和扩展方案在说明书、从属权利要求和附图中公开。
矫形外科技术系统具有：用于激活至少一个肌肉的至少一个刺激电极；矫形或假肢装置，该矫形或假肢装置可以施加在病人的身体上并且可以固定在其身体上，该矫形或假肢装置具有至少一个关节，通过该关节使矫形或假肢装置的近中部件和远中部件可枢转地相互连接；至少一个可调整的阻力装置，该阻力装置布置在远中部件和近中部件之间并且通过该阻力装置可以调节抵抗近中部件相对于远中部件的偏转的运动阻力，所述矫形外科技术系统设有用于感测力、位置、加速度和/或力矩的传感器以及与传感器和阻力装置耦合的控制装置，其中，控制装置处理传感器的传感器值并且根据传感器值调整阻力装置。与电机驱动的矫形器或假肢不同，在根据本发明的矫形外科技术系统中设置为，刺激电极例如通过电脉冲刺激肌肉，从而基于随后进行的肌肉收缩开始增强的运动动力或者在总体上开始肢体的或剩余肢体的运动。激活的肌肉导致在矫形外科技术系统内部的动能的增大，这导致矫形外科技术系统的远中和/或近中部件的相应运动。然后通过可调整的阻力装置可以根据传输给控制装置的传感器值控制或调控所述运动，该控制装置又与阻力装置耦合，从而可以实现期望的运动模式。通过所述系统可能的是，在没有昂贵的运动驱动器并且没有相对较重的储能器的情况下将能量引入到所述系统中，其方式是，电激活肌肉组织。矫形器或假肢的运动通过阻力装置的可调整的阻力控制，以便实现接近或适配于所期望的或预给定的运动模式。
刺激电极可以构造为表面电极或构造为植入物。电极形式的选择取决于要激活的肌肉、要刺激的神经的走向或者肌肉激活的方式。如果肌肉通过还存在的、相对更靠近皮肤表面走向的神经的激励来激活，那么刺激电极作为表面电极的构型是有利的，因为这种电极可以容易地施加并且不会产生植入耗费。表面刺激电极可以相对较简单地固定在皮肤表面上，但是具有以下缺点：相应神经的定位和由此激活可能是不精确的。电极作为植入物的构型具有以下优点：在所述肌肉被直接激活时，电极关于相应神经或肌肉稳定地和精确地配属。植入的电极可以构造为所谓的卡肤电极并且皮碗状地围绕要激励的的神经，当肌肉经由供应给它的神经被激活时，该神经通向要刺激的肌肉。
植入的刺激电极可以构造为经皮的刺激电极，尤其用于测试性应用，在该应用中电极紧靠要激励的神经支地植入。电极除了构型为卡肤电极之外也可以构型为具有多个触点的电极板或者以另外的方式构型。所述布置紧靠神经支地进行，该神经支支配负责相应运动的那些肌肉，例如足部的背侧屈曲或伸展、小腿屈曲或伸展或者髋部屈曲或伸展。同样可能的是，矫形或假肢装置布置在上肢上并且相应的刺激电极紧靠支配要激活的肌肉的那些神经支地布置。电极导线从神经支上的刺激部位经由皮肤引导至外部的脉冲发射器、即所谓的激发器。此外，植入的刺激电极也可以构造为混合植入物，在该混合植入物中线缆从电极引导至同样植入的脉冲发射器或者接收器，该接收器位于皮肤表面下方。在此，不进行皮肤穿透。用于电极的能量供给和电极脉冲的控制通过直接在皮肤表面上在脉冲发射器上方放置的发射和接收单元进行，该发射和接收单元构造成用于朝着脉冲发射器的方向传递能量并且将信息传递到脉冲发射器上并且从脉冲发射器传递至发射和接收单元。
在电极作为植入物的构型的另一变型方案设置为，电极、脉冲发射器、能量供给装置和控制装置共同植入。这种可植入的模块可以独立地工作并且在控制装置设立一次之后不需要所述模块之外的其他部件。用于控制装置的能量供给和脉冲的产生要么通过电池要么通过蓄电池实现。植入物对外的连接无线地构造，以便能够进行调节或者读取数据。
本发明的变型方案设置为，刺激电极与控制装置通过线材、无线地或者通过将控制装置集成在刺激电极中来耦合。通过控制装置确定时间点、脉冲的类型、脉冲的持续时间和脉冲强度，通过这些参数直接激活或刺激神经或肌肉。
矫形或假肢装置可以配属有储能器，通过该储能器可以存储矫形或假肢装置的动能并且又可以将所述动能受控地供应给该矫形或假肢装置。通过储能器可能的是，例如当必须减少过多的动能时，转化来自矫形外科技术系统的动能，其中，通过动能的存储不使该动能散失，尤其不完全转化为热量。相反地可能的是，动能在存储之后以另外的能量形式、例如作为势能通过弹簧变形、通过加载气动或液压的蓄压器或者通过转化为电能在相应的转化之后又供应给矫形外科技术系统。由此可能的是，矫形或假肢装置可以在它的运动中受支持，例如用于支持部件相对彼此的屈曲或伸展，例如在支持站起或在举起物品时。替代地，尤其在要施加抵抗运动的增大的阻力时进行转化，例如在制动、坐下或者以站立期屈曲行走时。
储能器可以构造为弹簧储能器、蓄压器或者用于电能的存储器，其中，矫形或假肢装置可以配属有驱动器，以便将所存储的能量又转化成动能并且能够实现远中部件相对于近中部件的屈曲或伸展。
显示为矫形外科技术装置或矫形外科技术系统的矫形或假肢装置可以构造为下肢的矫形器或假肢。阻力装置尤其构造为机械制动器、流体阻尼器、磁流变阻尼器或者发电机，其中，阻力装置可以通过与控制装置耦合的调整装置、例如促动器根据传感器值来调整，以便提供适配的阻力。阻力可以增大或缩小，其中，可以根据所感测的传感器数值进行调整，如力、远中和/或近中部件在空间中或相对彼此的位置、远中和/或近中部件实施和/或相对彼此实施的加速度和/或作用到远中和/或近中部件上的力矩。
如上面所述的那样，根据本发明的用于控制矫形外科技术系统的方法设置为，通过所述至少一个刺激电极激活病人的至少一个肌肉。通过布置在矫形或假肢装置上或病人上的传感器可以感测力、位置、加速度和/或力矩。力、加速度和/或力矩可以作用到矫形或假肢装置的部件上或者也作用到肢体上，在所述肢体上固定有矫形或假肢系统。矫形或假肢装置的部件以及各个肢体的位置可以关于确定的参考量、例如关于重力方向或相对彼此来获知。由传感器感测的传感器值被传输给控制装置，该控制装置根据传感器值引起在阻力装置中的阻力的变化。为此可以由控制装置将相应信号传递给与阻力装置耦合的调整装置，以便减小或增大阻力装置的阻力。为此例如可以打开或关闭阀，以便加载具有减小的或增大的流动阻力的流体流。同样地，可以通过磁性激励使磁流变阻尼器在由它施加的阻力方面改变。如果机械制动器作为阻力装置使用，那么制动力的增大、例如制动衬片的压紧或者卷簧制动器的挤压力的减小可以导致阻力装置的适配。在阻力装置作为发电机的构型中，可以通过线圈的激励提供抵抗旋转的增大阻力。
本发明的扩展方案设置为，通过至少两个刺激电极在时间上错开地激活彼此对抗作用的肌肉，以便引起与肌肉耦合的肢体的屈曲和伸展。时间差可以固定地作为程序输入到控制装置中。替代地，通过传感器控制相互的刺激，所述传感器与控制装置耦合并且根据所感测的运动参数或负载参数实施相应的刺激。
本发明的扩展方案设置为，配属给矫形或假肢装置的驱动器支持近中部件相对于远中部件的偏转运动，以便例如简化物体的举起或者帮助病人站起。
来自激活的肌肉组织的动能可以在矫形或假肢装置的运动的制动时存储在储能器中并且在时间上错开地又供应用于矫形或假肢装置的驱动。由此可能的是，肌肉组织不必在矫形或假肢装置的每个运动中激活或者激活可以发生在较低的激励水平上。此外，可能的是，在将动能转化成电能的情况下该电能用于刺激电极和控制装置的能量供应。
肌肉激活可以根据施加导肢体或矫形或假肢装置的部件上的力或者施加到肢体或矫形或假肢装置的部件上的力矩来进行。因此，根据负载的大小可能的是，引起适配的肌肉激活。施加到矫形或假肢装置上的力或所施加的力矩或者施加到肢体上的力或力矩显示为运动指标，该运动指标推断出是否应进行肌肉激活和肌肉激活应进行到什么程度。
相应的肌肉激活可以根据由肢体或者矫形或假肢装置的部件所实施的加速度和/或根据肢体或者矫形或假肢装置的部件在空间中或相对彼此的位置来进行。同样可能的是，肌肉激活以上面所述的组合为基础，例如根据施加到部件上的力矩、根据部件在空间中的或者相对于另一部件的当前位置。
尤其设置为，进行髋部肌肉组织和/或大腿肌肉组织的激活，以便确保病人的行走行为和灵活性的改善。
附图说明
下面参照附图详细阐释本发明的实施例。附图示出：
图1-本发明的作为矫形器的变型方案；以及
图2-本发明的作为假肢的变型方案。
具体实施方式
图1示出具有刺激电极10的矫形外科技术系统，该刺激电极在所示出的实施例中构造为可植入电极并且被植入。刺激电极10用于激活髋屈肌或引起髋运动的肌群。在示出的实施例中，刺激电极10构造为经皮的刺激电极，该经皮的刺激电极以皮碗的造型或以具有多个触点的电极板的造型紧挨着神经支地布置，所述神经支刺激负责髋部运动的至少一个肌肉或肌群。除了经由供应给所述刺激电极的一个神经或多个神经来激活肌肉之外，刺激电极10也可以直接激活肌肉，为此需要并设置电极与肌肉的直接耦合。在经皮的刺激电极10的情况下，电极导线从刺激部位经过皮肤通向外部脉冲发射器或控制装置50，所述外部脉冲发射器或控制装置未植入并且固定在病人的身体外部。电极导线与控制装置50的耦合可以通过可松脱的插头或磁性接触面实现，从而刺激电极10与控制装置50的分离能够无问题地实现。
刺激电极10也可以构造为混合植入物，在该混合植入物中，线缆从电极10通向植入的脉冲发射器或接收器面，所述脉冲发射器或接收器面布置在皮肤表面中。同样如用于激活肌肉的电极的控制那样，能量供应通过外部控制装置50要么直接地、要么经由供应给肌肉的神经进行，该外部控制装置具有直接布置在皮肤表面上的在脉冲发射器或接触面上方的发射和接收单元，该发射和接收单元通过线缆或无线电与控制装置50耦合。通过发射和接收单元实现能量和信息的传递。
替代于控制装置50在病人外部的布置，在本发明的变型方案中电极可以与脉冲发射器、能量供应装置和控制装置一起构造为共同的整体植入物，该整体植入物独立地工作。设置有植入物对外的无线连接，以便能够进行调节或读取数据。在这里，肌肉的激活也可以通过电极要么直接地、要么经由供应给肌肉的神经的刺激进行。整体植入物可以同时设置有传感器装置，以便通过肌肉的激活和/或植入物在空间中的位置或者通过作用的力和/或力矩得到传感器数据。
矫形装置20作为矫形外科技术系统的第二部件以KAFO(膝踝足矫形器)的造型构造，即从大腿延伸至足部并且跨接膝关节和踝关节的矫形器。在示出的实施例中，矫形装置20具有以大腿夹板或大腿外壳的造型的近中部件21，该近中部件通过矫形膝关节41与以小腿夹板或小腿外壳的造型的远中部件22可枢转地耦合。更远中地，在小腿部件22上布置有以足部外壳或足部夹板的造型的足部部件23，该足部部件通过矫形踝关节42与小腿夹板22连接。当没有大腿部件21固定在小腿夹板22上时，该小腿夹板也可以形成近中部件。那么仅涉及AFO(踝足矫形器)，其中，在足部部分和作为远中部件的足部外壳23与作为小腿夹板或小腿外壳的近中部件22之间可以布置有未示出的阻力装置。
在示出的实施例中，阻力装置30布置在近中部件21或大腿夹板或大腿外壳和远中部件22或小腿夹板或小腿外壳之间并且分别固定在部件21、22上。阻力装置30可以提供抵抗近中部件21相对于远中部件22的屈曲或伸展的阻力。阻力装置30也可以构造为闭锁装置并且防止远中部件22相对于近中部件21的所有偏转。为此，阻力装置30配属有未示出的调整装置，通过该调整装置可以适配或最大地提高阻力，使得在通常在使用下肢矫形器时出现负载的框架下不能进行围绕矫形膝关节41的关节轴的相对运动。阻力装置可以构造为流体阻尼器、尤其构造为液压阻尼器，机械制动器、磁流变阻力装置或发电机同样可以作为阻力装置30布置在部件21、22之间，以便提供抵抗偏转运动的适配阻力。
阻力装置30配属有储能器31，该储能器示意性地示出并且可以构造为弹簧储能器或蓄压器。原则上也可能的是，储能器装置31构型为用于电能的存储器，以便能够将动能转化为电能。在储能器装置31构型为机械储能器的情况下，在部件21、22相对彼此屈曲和/或伸展时所施加的动能转化成势能。通过储能器31可以在时间上协调地要么经由控制装置50要么经由分开的、与控制装置50耦合的矫形器控制装置释放能量，以便支持部件21、22相对彼此的屈曲或伸展。这通过示意性示出的运动驱动器32实现，该运动驱动器由储能器31供给以能量并且产生或者至少支持沿一个方向或沿另一方向的偏转运动。
具有阻力装置30、储能器31和驱动器或马达32的相应构型也可以布置在小腿部件22和足部部件23之间，以便提供期望的或需要的抵抗足部的背侧屈曲或背侧伸展的阻力，或者通过储能器31和驱动器32产生相应的驱动功和偏转运动。替代于小腿部件22相对于大腿部件21的偏转，实现足部部件23相对于小腿部件22的偏转。原则上也可能的是，设置具有一个或两个储能器31和一个或两个驱动器32的两个阻力装置30，以便桥接两个关节41、42、驱动和制动多个部件并且能够实现步态的改善或者将步态调整为所希望的步态。
在示出的实施例中，在矫形装置20中布置有五个传感器61、62、63、64、65，所述传感器与矫形装置20和控制装置50耦合。
在大腿部件21上布置有第一传感器61，该第一传感器与控制装置50无线地耦合并且探测在佩戴有矫形器装置20的情况下的大腿部件21的和由此大腿的位置或角度位置。传感器61可以构造为陀螺仪或另外的位置传感器，以便探测大腿部件21和大腿相对于垂直线而言的取向。
在矫形膝关节41的区域中布置有另一传感器62，该传感器构造为角度传感器，以便获知大腿部件21相对于小腿部件22的角度位置。所述传感器可以构造为增量传感器或绝对传感器。所述传感器可以构造为光学传感器或者基于磁性作用原理，例如构造为霍尔效应传感器。
在小腿部件22上、即在相对于大腿部件21远中地通过矫形器膝关节41可枢转地固定的那个部件上，在矫形膝关节41的区域中布置有另一传感器63，该传感器要么类似于第一位置传感器61地构造为位置传感器要么构造为力矩传感器或者这两种传感器的组合，以便能够感测小腿部件22的绝对位置和/或作用到小腿部件22上的负载。原则上可能的是，在用于获知膝角度的角度传感器62中也布置有另一传感器部件，例如以便能够感测在膝关节41中作用的力矩或力。
相对于小腿部件22远中地，足部部件23通过踝关节42可枢转地固定。踝关节42位于自然踝关节的高度上，矫形膝关节41相应地位于自然膝关节或自然膝关节轴的区域中。足部部件23从下面夹紧足部并且具有足底部件，从而足部沿背侧屈曲方向和脚掌屈曲方向受引导并且被支持。在踝关节42上布置有另一传感器64，该传感器感测足部部件23相对于小腿部件22的角度位置和/或围绕踝关节42作用的力矩，以便这样能够得到当前的负载和运动情况或步态情况的推断。在足部部件23的下侧上布置有力传感器65或压力传感器，以便探测足跟碰撞或足跟接触。这种足跟开关(Fersenschalter)65允许推断出步态情况、步态情况的变化以及当前的运动情况。如果在较长的时间段内未改变地探测到仅一个小的负载，可以由此推断出，矫形装置20的携带者处于坐着的位态中。在足跟区域中负载值变化并伴随着完全去负载的情况下，可以推断出行走。通过负载的大小、负载的过程和负载与去负载的间隔可以推断出运动的类型和以哪种步态速度行走的。
传感器61–64的所有值被传输给控制装置50和/或分开的、未示出的第二控制装置，所述控制装置和/或第二控制装置基于传感器数据进行在膝关节41和/或踝关节42中的屈曲阻力和/或伸展阻力的改变。同样地，能量的存储可以在储能器31中发生以及能量从储能器到驱动器32上的输出可以通过控制装置发生，使得通过激活的髋屈肌引起用于减小要施加的动能的运动支持以及能量存储。
控制装置50也包含用于产生刺激脉冲的激发器。
在图2中示出本发明的变型方案，在该变型方案中，替代于矫形器存在有假肢。在这里外部的控制装置50也存在于身体外部并且固定在病人的腰上。第一位置传感器61耦合在以大腿杆21的构型的大腿部件上，该大腿杆通过卡箍与假肢膝关节41连接。在示出的实施例中，位置传感器61通过线缆与控制装置50耦合。在大腿杆21上的位置传感器66可以通过无线电与控制装置50耦合，以便能够提供关于大腿杆21以及大腿末端(Oberschenkelstumpf)的当前位置的精确信息。
在大腿部件21的远中端部上布置有假肢膝关节41，该假肢膝关节使近中大腿部件21与远中小腿部件22可枢转地连接。在假肢膝关节41内部布置有可调整的阻力装置30，该阻力装置例如可以构造为机械制动器、液压阻尼器、气动阻尼器、磁流变阻尼器或发电机。未示出的呈弹簧、压力容器或蓄电池的构型的储能器同样可以集成在假肢膝关节41中。未示出的驱动器、例如弹簧驱动器或电动机也可以集成在假肢膝关节41中，以便例如在小腿部件22相对于大腿部件21制动时除了能量存储之外不将能量转化为热量，而是有意义地存储，由此可以将该能量通过驱动器重新用于小腿部件22相对于大腿部件21的伸展或屈曲。
在假肢膝关节41上布置有用于感测膝角度和/或作用到膝关节41上的力矩的传感器62。相对于假肢膝关节41远中地，在小腿部件22上布置有另一传感器63，以便能够感测小腿部件22相对于大腿部件21的位置或者关于垂直线的绝对位置。在假肢足部上布置有用于感测作用到假肢足部上的轴向力或力矩的另一传感器64。所有传感器61、62、63、64、66与控制装置50耦合，该控制装置又与用于刺激至少一个肌肉、在示出的实施例中是髋屈肌的刺激电极10耦合。此外，控制装置50也可以控制在假肢膝关节41内部的阻力装置30，以便根据所获知的传感器值提供增大或减小的屈曲阻力或伸展阻力。
矫形装置20和假肢装置20均按照以下原则起作用：通过控制装置50操控至少一个刺激电极10并且设有刺激脉冲，以便激励相应的肌肉收缩。在示出的实施例中，髋屈肌或髋屈肌群通过刺激电极10要么直接地、要么经由供应给肌肉或肌群的神经激活，使得激活相应于箭头的髋部屈曲。通过髋部屈曲将能量脉冲引入到矫形或假肢系统20中，通过该能量脉冲使小腿22或小腿部件22向前沿行走方向运动。与此相应地，足部部件23或假肢足部也向前运动，使得在矫形器关节或假肢膝关节41中发生伸展运动。因为肌肉脉冲的控制可能不足够精确，根据本发明远中部件22或小腿部件相对于近中部件21或大腿部件的屈曲运动和伸展运动通过阻力装置30来修正，其中，阻力装置30根据多个传感器值或者仅一个传感器值调整。如果通过肌肉激活将过多的能量引入到矫形或假肢装置20中，那么通过阻力装置30提供增大的阻力。相应地，在能量引入降低或过少的情况下由于较弱的肌肉收缩而相应地降低阻力或者这样调整端部止挡，使得实现和谐的或者适配于预给定步态的步态。
矫形或假肢装置20可以与所刺激的肌肉组织协同地或者对抗地共同作用。除了刺激髋屈肌组织之外也可以进行髋伸肌的刺激。同样可能的是，髋部屈曲通过缝匠肌、股直肌和髂肌以及腰肌激活。与髋部屈曲运动相反作用地，髋部伸展可以通过臀大肌激活。通过在时间上受控制的各个肌肉的激活可以实现协调的髋部屈曲和髋部伸展。同样地，可以基于传感器在例如髋部屈曲的激活之后为了限界髋部屈曲运动而开始激活髋伸肌。
替代地或者补充地，可以在刺激大腿肌肉组织时为了膝伸展而激活四头肌并且为了膝屈曲而激活股二头肌、半腱肌以及半膜肌。在这里，除了阻力装置30之外补充地，在矫形装置中协同地和对抗地作用的肌肉的协调激活也可以与阻力装置30一起进行。受刺激的肌肉组织的动能通过储能器31暂时存储在矫形或假肢装置中，并且为了支持、即关于受刺激的肌肉组织协同地通过驱动器32又供应给系统。
肌肉组织的激活或刺激通过肌肉接口或神经接口进行。除了通过植入系统的刺激之外(如在实施例中所描述的那样)，只要肌肉或神经可以由外部接触，该刺激也可以通过具有表面电极的表面刺激系统进行。通过与控制装置50和传感器61–66连接的阻力装置30，假肢和矫形装置20的机械系统通过经由阻力装置30对阻尼的适配和对用于限定最大可达到的角度位置的伸展止挡和屈曲止挡的调整的适配来控制运动实施。

Claims (15)

1.矫形外科技术系统，具有：
a.用于激活至少一个肌肉的至少一个刺激电极(10)，
b.矫形或假肢装置(20)，该矫形或假肢装置能够穿戴在病人的身体上并且能够固定在该身体上，该矫形或假肢装置具有至少一个关节(41、42)，通过该关节使所述矫形或假肢装置(20)的近中部件和远中部件(21、22；22、23)能枢转地相互连接，
c.至少一个能调整的阻力装置(30)，该阻力装置布置在所述远中部件和所述近中部件(21、22)之间并且通过该阻力装置能够调节抵抗所述近中部件(21)相对于所述远中部件(22)的偏转的运动阻力，
d.用于感测力、位置、加速度和/或和/或力矩的传感器(61、62、63、64、65、66)，
e.控制装置(50)，该控制装置与所述传感器(61、62、63、64、65、66)和所述阻力装置(30)耦合，处理所述传感器(61、62、63、64、65、66)的传感器值，并且根据所述传感器值调整所述阻力装置(30)。
2.根据权利要求1所述的矫形外科技术系统，其特征在于，所述刺激电极(10)构造为表面电极或构造为植入物。
3.根据权利要求1或2所述的矫形外科技术系统，其特征在于，所述刺激电极(10)与所述控制装置(50)耦合。
4.根据前述权利要求中任一项所述的矫形外科技术系统，其特征在于，所述矫形或假肢装置(20)配属有储能器(31)，所述矫形或假肢装置(20)的动能能够通过该储能器存储并且能够受控地重新被供应。
5.根据前述权利要求中任一项所述的矫形外科技术系统，其特征在于，所述储能器(31)构造为弹簧储能器、蓄压器或用于电能的存储器。
6.根据前述权利要求中任一项所述的矫形外科技术系统，其特征在于，所述矫形或假肢装置(20)配属有驱动器(32)。
7.根据前述权利要求中任一项所述的矫形外科技术系统，其特征在于，所述矫形或假肢装置(20)构造为下肢的矫形器或假肢。
8.根据前述权利要求中任一项所述的矫形外科技术系统，其特征在于，所述阻力装置(30)构造为机械制动器、流体阻尼器、磁流变阻尼器或者发电机。
9.用于控制根据前述权利要求中任一项所述的矫形外科技术系统的方法，在所述方法中，
a.通过所述至少一个刺激电极(10)激活所述病人的至少一个肌肉，
b.通过所述传感器(61、62、63、64、65、66)感测固定在所述矫形或假肢装置上的肢体的和/或所述矫形或假肢装置(20)的部件(21、22、23、41、42)的力、位置、加速度和/或力矩，并且将由所述传感器(61、62、63、64、65、66)感测的所述传感器值传输给所述控制装置，并且，
c.根据所述传感器值调整所述阻力装置(30)。
10.根据权利要求9所述的方法，其特征在于，通过至少两个刺激电极(10)在时间上错开地激活彼此对抗地作用的肌肉。
11.根据权利要求9或10所述的方法，其特征在于，配属给所述矫形或假肢装置(20)的驱动器(32)支持所述近中部件(21)相对于所述远中部件(22)的偏转运动。
12.根据权利要求9至11中任一项所述的方法，其特征在于，来自激活的肌肉组织的动能为了制动所述矫形或假肢装置(20)而存储在储能器(31)中并且为了驱动所述矫形或假肢装置(20)而重新被供应。
13.根据权利要求9至12中任一项所述的方法，其特征在于，根据施加到肢体或所述矫形或假肢装置(20)的部件(21、22、23、41、42)上的力或根据施加到肢体或所述矫形或假肢装置(20)的部件(21、22、23、41、42)上的力矩进行肌肉激活。
14.根据权利要求9至13中任一项所述的方法，其特征在于，根据由肢体或所述矫形或假肢装置(20)的部件(21、22、23、41、42)所实施的加速度和/或根据肢体或所述矫形或假肢装置(20)的部件(21、22、23、41、42)在空间中的位置或相对彼此的位置进行肌肉激活。
15.根据权利要求9至14中任一项所述的方法，其特征在于，进行髋部肌肉组织和/或大腿肌肉组织的激活。
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