CN118044926A

CN118044926A - Modular artificial limb movable part structure linkage device

Info

Publication number: CN118044926A
Application number: CN202410378003.2A
Authority: CN
Inventors: 王子铜; 金凤臣; 李岩
Original assignee: Beijing Jingbo Modern Artificial Limb Orthotics Technology Co ltd
Current assignee: Beijing Jingbo Modern Artificial Limb Orthotics Technology Co ltd
Priority date: 2024-03-29
Filing date: 2024-03-29
Publication date: 2024-05-17

Abstract

The application relates to a modular artificial limb movable part structure linkage device which comprises a receiving cavity module, a shank joint, a knee joint module, a foot plate, an ankle joint module and a driving module, wherein the receiving cavity module, the knee joint module, the shank joint, the ankle joint module and the foot plate are sequentially and detachably connected from top to bottom, and the receiving cavity module, the shank joint, the ankle joint module and the foot plate can be detached and assembled according to requirements. The application has the advantages of convenient later maintenance and replacement of parts, replacement of each module and reduction of the use cost of the artificial limb.

Description

Modular artificial limb movable part structure linkage device

Technical Field

The application relates to the field of medical appliances, in particular to a modular artificial limb movable part structure linkage device.

Background

The artificial limb movable part structure linkage means a structure for connecting a plurality of artificial limb components together so as to enable the artificial limb components to work cooperatively. Such devices are commonly used in limb prostheses, including upper and lower limb prostheses.

In lower limb prostheses, common linkages include knee joints, ankle joints, soles of feet, and the like. The joints can also be linked through mechanisms such as springs, hydraulic motors or electric motors, so that the artificial limb can simulate the movement of the legs of a human body.

For example, a knee-ankle linkage artificial limb, the main technical principle of the patent is that the synchronous linkage of the flexion and extension motion of the knee joint and the plantar flexion and dorsiflexion motion of the ankle joint is realized through a knee joint angle sensor, a knee joint motor, a turntable, a swing hydraulic cylinder and other devices, so that the angle of a foot plate is changed along with the motion of the knee joint, the foot plate can well walk in a mode that the second half section of the foot plate is firstly grounded, various complex terrains can be adapted, the walking of a wearer is smooth, the situations of kneeling, wrestling and the like are not easy to occur, the safety of the wearer is further protected, and the wearing experience is improved.

For example, the main technical principle of the knee-ankle linkage artificial limb is that the knee joint is driven to bend and stretch through the connection of the piston rod and the first connecting rod, the first connecting rod drives the piston rod to stretch and stretch, and then the piston rod is connected with the piston rod through the second connecting rod, so that the piston rod drives the second connecting rod to drive the foot plate to tilt up and down, synchronous linkage of the bending and stretching motion of the knee joint and the plantar bending and dorsiflexion motion of the ankle joint is realized, the ankle joint can bend along with the bending of the knee joint, the knee joint bends backwards, and the foot plate tilts upwards, so that the foot plate accords with the actions of walking, sitting down and going upstairs and downstairs of a human body.

The above-mentioned artificial limb models all use a unitary structure, wherein if any failure occurs in the parts, maintenance is difficult and maintenance cost is too high.

Disclosure of Invention

In order to facilitate maintenance and reduce user costs, the application provides a modular prosthetic movable part structure linkage device.

The application provides a modular artificial limb movable part structure linkage device which adopts the following technical scheme:

A modular prosthetic movable part structure linkage device, comprising

The receiving cavity module is directly and fixedly connected with the residual limb at one end, a receiving cavity connecting piece is arranged at one end, far away from the residual limb, of the receiving cavity module, and the receiving cavity connecting piece is detachably connected with the receiving cavity;

A lower leg joint;

The knee joint module is arranged between the shank joint and the receiving cavity module, one end of the knee joint module is connected with the receiving cavity module through the receiving cavity connecting piece, and the other end of the knee joint module is detachably connected with the shank joint;

Foot plates;

The ankle joint module is arranged between the shank joint and the foot plate and is detachably connected with the shank joint and the foot plate;

The driving module drives the knee joint module and the ankle joint module to drive the shank joint and the foot plate to move.

Through adopting above-mentioned technical scheme, set up prosthetic part into drive module, accepting cavity module, knee joint module, shank joint, ankle joint module and sole from last to dismantling down in proper order and connect to drive shank joint and sole motion through drive knee joint module and ankle joint module by drive module, all can dismantle and assemble as required between each module, be convenient for later maintenance and change the part, can change each module simultaneously, reduce prosthetic use cost.

Preferably, the driving module comprises a first driving piece and a second driving piece, the first driving piece is arranged at the knee joint module and is linked with the knee joint module to drive the shank joint to move with the receiving cavity module, and the second driving piece is arranged at the ankle joint module and is linked with the ankle joint module to drive the foot plate to move with the shank joint.

Through adopting above-mentioned technical scheme, drive module sets up to be located the first drive piece of knee joint module department and the second drive piece of ankle joint module department to drive whole prosthetic device linkage through first drive piece and second drive piece drive, the convenience is to the control of prosthetic.

Preferably, the artificial limb prosthesis further comprises a control module, wherein the control module comprises a control piece arranged at the position of the shank joint, the control piece is electrically connected with the first driving piece and the second driving piece, and the first driving piece and the second driving piece are respectively controlled to move so as to drive the whole artificial limb to move.

By adopting the technical scheme, the control module is the control brain of the artificial limb, can analyze the actual use condition of the artificial limb, and controls the driving of the first driving piece and the second driving piece through the electric connection of the control piece and the first driving piece and the second driving piece, thereby facilitating the corresponding action of the artificial limb and further improving the control of the artificial limb.

Preferably, the control module further comprises a sensor comprising a first sensor disposed at the ankle module and a second sensor disposed at the knee module, the first sensor and the second sensor being electrically connected to the control member.

Through adopting above-mentioned technical scheme, set up first sensor in ankle joint module department, can set up second sensor in knee joint module department with the motion state or gesture record between foot board and the shank joint, can with the motion state or gesture record between shank joint department and the chamber module, and on data transmission to the control piece, the data that obtains is handled after being analyzed by the control piece, further be convenient for the control to the artificial limb, simultaneously with first sensor and second sensor setting in ankle joint module and knee joint module department, the convenience when having promoted to carry out the partial maintenance of dismantling to the artificial limb.

Preferably, the first sensor and the second sensor are provided as angle sensors.

By adopting the technical scheme, the first sensor and the second sensor are arranged as the angle sensor, and the rotation angle between the foot plate and the shank joint is detected to determine whether the foot plate contacts the ground or not, and meanwhile, the rotation angle between the shank joint and the receiving cavity module is detected, the state of the artificial limb is determined through the rotation angle, and the driving of the first driving piece and the second driving piece is controlled, so that the foot plate can give stable support to the artificial limb when the foot plate lands.

Preferably, the sensor further comprises a high-energy inertial sensor and a six-dimensional torque sensor which are arranged above the foot plate, and the high-energy inertial sensor and the six-dimensional torque sensor are electrically connected with the control element and used in a matched mode.

Through adopting above-mentioned technical scheme, through setting up the high energy inertial sensor and six-dimensional torque sensor cooperation use above the sole for measure foot gesture and plantar and the interactive force of bottom surface, high energy inertial sensor and six-dimensional force sensor installation and design are used for prosthetic gesture measurement and plantar and the interactive force measurement on ground simultaneously, easily realize the compliance intelligent control of power prosthetic.

Preferably, the first driving member and the second driving member are both configured as motors.

Through adopting above-mentioned technical scheme, set up first driving piece and second driving piece into the motor, can be more accurate adjust knee joint module and ankle joint module department.

Preferably, the device further comprises an energy supply module, wherein the energy supply module is arranged inside the shank joint and supplies energy to the driving module and the control module, the energy supply module is a replaceable device, and a replacement port for replacing the energy supply module is formed in the shank joint.

Through adopting above-mentioned technical scheme, set up energy supply module and supply energy for the artificial limb, and energy supply module can be changed through the replacement mouth, and everywhere can supply energy for the artificial limb at any time, the person of facilitating the use uses for a long time.

In summary, the present application includes at least one of the following beneficial technical effects:

1. The artificial limb part is arranged into a receiving cavity module, a shank joint, a knee joint module, a foot plate and an ankle joint module which are sequentially connected in a detachable way from top to bottom, the driving module drives the shank joint and the foot plate to move by driving the knee joint module and the ankle joint module, the modules can be detached and assembled according to the requirement, the later maintenance and the replacement of parts are facilitated, the modules can be replaced, and the use cost of the artificial limb is reduced;

2. The driving module is arranged to be positioned at a first driving piece at the knee joint module and a second driving piece at the ankle joint module, and drives the whole artificial limb device to be linked through the first driving piece and the second driving piece, so that the artificial limb can be controlled conveniently;

3. the control module is a control brain of the artificial limb, can analyze the actual use condition of the artificial limb, and controls the driving of the first driving piece and the second driving piece through the electric connection of the control piece and the first driving piece and the second driving piece, thereby facilitating the corresponding action of the artificial limb and further improving the control of the artificial limb.

Drawings

FIG. 1 is a schematic view of a modular prosthetic active site structural linkage of the present application.

Fig. 2 is a cross-sectional view of fig. 1.

Reference numerals illustrate: 1. a receiving cavity module; 11. an inner layer; 111. a gasket; 12. an outer layer; 121. an adjustment groove; 122. a first mounting hole; 13. a socket connector; 131. a first connection block; 2. a lower leg joint; 21. a second connection block; 22. a third mounting hole; 3. a knee joint module; 31. a first connector; 311. a second mounting hole; 4. foot plates; 41. a fourth connecting block; 5. an ankle joint module; 51. a second connector; 511. a third connecting block; 52. a rotating member; 521. a fourth mounting hole; 522. a fixing hole; 6. a driving module; 61. a first driving member; 611. a first cover; 62. a second driving member; 621. a second cover; 7. a control module; 71. a control member; 72. a sensor; 721. a first sensor; 722. a second sensor; 723. a high energy inertial sensor; 724. a six-dimensional torque sensor; 8. and an energy supply module.

Detailed Description

The application is described in further detail below with reference to fig. 1-2.

The embodiment of the application discloses a modular artificial limb movable part structure linkage device. Referring to fig. 1, the modular prosthesis movable part structure linkage device comprises a receiving cavity module 1, a shank joint 2, a knee joint module 3, a foot plate 4 and an ankle joint module 5, as well as a driving module 6, a control module 7 and an energy supply module 8, wherein the receiving cavity module 1, the knee joint module 3, the shank joint 2, the ankle joint module 5 and the foot plate 4 are sequentially connected from top to bottom in a detachable mode, the modules can be detached and assembled according to requirements, later maintenance and replacement of components are facilitated, and meanwhile, the modules can be replaced, so that the use cost of the prosthesis is reduced.

Referring to fig. 1, the socket module 1 is used for being connected with a residual limb, the socket module 1 is divided into two layers, namely an inner layer 11 attached to the residual limb and an outer layer 12 arranged outside the inner layer 11, the inner layer 11 is made of thermoplastic materials, the residual limb of a user can be attached conveniently, users with different thicknesses can wear the socket module, special customization is not needed, a liner 111 is arranged inside the inner layer 11, the inner wall structure is cylindrical attached to the residual limb, a plurality of ventilation holes are formed in the lower end attached to the residual limb, and comfort of the residual limb contacted with the socket module 1 is facilitated.

The outer layer 12 is made of metal, is attached and fixed with the inner layer 11, and the outer layer 12 is provided with an adjusting groove 121, so that the inner layer 11 can be conveniently adjusted and then contracted along with the inner layer 11.

The bottom of the outer layer 12 is provided with a receiving cavity connecting piece 13, specifically, the outer layer 12 is provided with a first mounting hole 122 for mounting the receiving cavity connecting piece 13, the first mounting hole 122 is arranged at the center of the bottom of the outer layer 12, the first mounting hole 122 is provided with a quadrilateral hole, and the receiving cavity connecting piece 13 is mounted in the first mounting hole 122 through a square first connecting block 131 arranged at the top and detachably connected with the outer layer 12 of the receiving cavity module 1.

Referring to fig. 1 and 2, the lower part of the socket connector 13 is U-shaped, the knee joint module 3 is arranged in the middle, the knee joint module 3 comprises a first connector 31 rotatably connected with the socket connector 13, the lower part of the first connector 31 is provided with the shank joint 2, and the shank joint 2 is fixedly connected with the first connector 31 through bolts and is detachable from the first connector 31.

Referring to fig. 2, a second mounting hole 311 is formed in a central position below a specific first connecting piece 31, the second mounting hole 311 is a square hole, a second connecting block 21 adapted to the second mounting hole 311 is arranged at a position of a lower leg joint 2, and one end of the lower leg joint 2 connected with the first connecting piece 31 is circumferentially wrapped around the first connecting piece 31 and fixedly connected with the first connecting piece 31 through a bolt.

The ankle module 5 is provided at the lower end of the lower leg joint 2 and detachably connected to the lower leg joint 2, and in particular, the ankle module 5 includes a second connection member 51 and a rotation member 52.

The center of the lower end of the shank joint 2 is provided with a third mounting hole 22, the third mounting hole 22 is a square hole, the second connecting piece 51 is arranged into a U-shaped downward structure, the top of the second connecting piece 51 is provided with a third connecting block 511 which is matched with the third mounting hole 22, the top of the second connecting piece 51 circumferentially exceeds the bottom of the shank joint 2 and is fixedly connected with the lower end of the shank joint 2 circumferentially through a screw.

Referring to fig. 2, the rotating member 52 is rotatably connected with the second connecting member 51, a fourth mounting hole 521 is formed in the center of the bottom of the rotating member 52, the fourth mounting hole 521 is formed as a square hole, a fourth connecting block 41 adapted to the fourth mounting hole 521 is disposed above the heel of the foot plate 4, two fixing holes 522 are formed on two opposite sides of the bottom of the rotating member 52, and the foot plate 4 is fixed to the rotating member 52 through screws and the fixing holes 522.

Referring to fig. 2, the driving module 6 includes a first driving member 61 and a second driving member 62, the first driving member 61 is disposed at the knee joint module 3, specifically, an output shaft of the first driving member 61 is disposed at a position where the first connecting member 31 and the socket connecting member 13 rotate, the first driving member 61 is mounted at one side of the socket connecting member 13, the first driving member 61 is covered inside by a first cover body 611 disposed outside the socket connecting member 13, and the first driving member 61 is configured as a motor, so that the knee joint module 3 can be adjusted more accurately, and the first connecting member 31 and the socket connecting member 13 rotate, and further, the socket module 1 rotates.

The second driving piece 62 is arranged at the ankle joint module 5, the specific second driving piece 62 is arranged as a motor, the output end of the motor is arranged at the rotating connection part of the rotating piece 52 and the second connecting piece 51 and drives the rotating piece 52 to rotate, the motor is arranged at the outer side of the U-shaped frame of the second connecting piece 51, and the second driving piece 62 is covered inside through a second cover body 621 arranged at the outer side of the second connecting piece 51.

Referring to fig. 1 and 2, the control module 7 includes a control member 71 and a sensor 72, and the control member 71 and the sensor 72 are electrically connected to the driving module 6.

The sensor 72 includes a first sensor 721 provided at the ankle joint module 5 and a second sensor 722 provided at the knee joint module 3.

The first sensor 721 is arranged at the ankle joint module 5, so that the movement state or gesture between the foot plate 4 and the shank joint 2 can be recorded, the second sensor 722 is arranged at the knee joint module 3, the movement state or gesture between the shank joint 2 and the receiving cavity module 1 can be recorded, data are transmitted to the control piece 71, the obtained data are analyzed by the control piece 71 and then processed, the control of the artificial limb is further facilitated, and meanwhile, the first sensor 721 and the second sensor 722 are arranged at the ankle joint module 5 and the knee joint module 3, so that the convenience in the process of partially disassembling and maintaining the artificial limb is improved.

Specifically, the first sensor 721 and the second sensor 722 are provided as the angle sensor 72, the first sensor 721 is provided on the first connecting member 31, the angle between the calf joint 2 and the socket module 1 can be measured in real time, the second sensor 722 is provided on the rotating member 52, the angle between the foot plate 4 and the calf joint 2 can be measured in real time, and the state of the prosthesis can be judged according to the measured angle, so that the method is more intelligent.

The sensor 72 further comprises a high-energy inertial sensor 723 and a six-dimensional moment sensor 724 which are arranged above the foot plate 4, and the high-energy inertial sensor 723 and the six-dimensional moment sensor 724 which are arranged above the foot plate 4 are used in a matched mode and are used for measuring foot postures and interaction force between the sole and the bottom surface, and the high-energy inertial sensor 723 and the six-dimensional sensor 72 are installed and designed to be used for measuring artificial limb postures and interaction force between the sole and the ground at the same time, so that flexible intelligent control of a power artificial limb is easy to realize.

Referring to fig. 2, an energy supply module 8 is provided inside the calf joint 2, side by side with the control member 71, and the energy supply module 8 is electrically connected with and supplies energy to the drive module 6 and the control module 7.

The outside of the shank joint 2 is provided with a turnover door for installing the control piece 71 and the energy supply module 8, so that the energy supply module 8 can be replaced conveniently, the artificial limb can be supplied at any time and any place, and a user can use the artificial limb conveniently for a long time.

The implementation principle of the modular artificial limb movable part structure linkage device provided by the embodiment of the application is as follows: the artificial limb part is arranged to be detachably connected with the socket module 1, the shank joint 2, the knee joint module 3, the foot plate 4 and the ankle joint module 5 from top to bottom in sequence, the shank joint 2 and the foot plate 4 are driven to move by the driving module 6 through the driving of the knee joint module 3 and the ankle joint module 5, the modules can be detached and assembled as required, later maintenance and replacement of parts are facilitated, the modules can be replaced, and the use cost of the artificial limb is reduced.

The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.

Claims

1. A modular prosthetic active site structure linkage device, characterized in that: comprising

The device comprises a receiving cavity module (1), wherein one end of the receiving cavity module (1) is directly and fixedly connected with a residual limb, a receiving cavity connecting piece (13) is arranged at one end, far away from the residual limb, of the receiving cavity module (1), and the receiving cavity connecting piece (13) is detachably connected with the receiving cavity;

a lower leg joint (2);

the knee joint module (3), the knee joint module (3) is arranged between the shank joint (2) and the receiving cavity module (1), one end of the knee joint module is connected with the receiving cavity module (1) through the receiving cavity connecting piece (13), and the other end of the knee joint module is detachably connected with the shank joint (2);

A foot plate (4);

an ankle joint module (5), wherein the ankle joint module (5) is arranged between the shank joint (2) and the foot plate (4) and is detachably connected with the shank joint (2) and the foot plate (4);

The driving module (6) drives the knee joint module (3) and the ankle joint module (5) to drive the shank joint (2) and the foot plate (4) to move.

2. The modular prosthetic active site structure linkage of claim 1, wherein: the driving module (6) comprises a first driving piece (61) and a second driving piece (62), the first driving piece (61) is arranged at the knee joint module (3) and is in linkage with the knee joint module (3), the shank joint (2) is driven to move with the receiving cavity module (1), and the second driving piece (62) is arranged at the ankle joint module (5) and is in linkage with the ankle joint module (5) to drive the foot plate (4) to move with the shank joint (2).

3. The modular prosthetic active site structural linkage of claim 2, wherein: the artificial limb device comprises a lower leg joint (2), and is characterized by further comprising a control module (7), wherein the control module (7) comprises a control piece (71) arranged at the lower leg joint (2), the control piece (71) is electrically connected with the first driving piece (61) and the second driving piece (62), and controls the first driving piece (61) and the second driving piece (62) to move respectively so as to drive the whole artificial limb to move.

4. A modular prosthetic active site structure linkage as claimed in claim 3, wherein: the control module (7) further comprises a sensor (72), the sensor (72) comprising a first sensor (721) arranged at the ankle module (5) and a second sensor (722) arranged at the knee module (3), the first sensor (721) and the second sensor (722) being electrically connected to the control element (71).

5. The modular prosthetic active site structure linkage of claim 4, wherein: the first sensor (721) and the second sensor (722) are provided as angle sensors (72).

6. The modular prosthetic active site structure linkage of claim 4, wherein: the sensor (72) further comprises a high-energy inertial sensor (723) and a six-dimensional moment sensor (724) which are arranged above the foot plate (4), and the high-energy inertial sensor (723) and the six-dimensional moment sensor (724) are electrically connected with the control piece (71) and are matched for use.

7. The modular prosthetic active site structural linkage of claim 2, wherein: the first drive element (61) and the second drive element (62) are each provided as a motor.

8. The modular prosthetic active site structure linkage of any one of claims 1-7, wherein: still include energy supply module (8), energy supply module (8) set up inside shank joint (2), for drive module (6) and control module (7) energy supply, energy supply module (8) are interchangeable device, shank joint (2) department is offered altogether the replacement mouth that energy supply module (8) was changed.