Limb joint passive movement device capable of being matched with brace and training method

Abstract

The invention relates to a limb joint passive movement device capable of being matched with a brace and a training method, and mainly relates to the field of exercise rehabilitation. The device comprises a CPM host unit, a CPM first support unit, a CPM second support unit, a CPM support rotating shaft unit, a CPM first support moving and positioning unit, a CPM second support moving and positioning unit, a first support unit, a second support unit and a support rotating shaft unit. The rotating center of the brace rotating shaft unit coincides with the rotating center of the CPM support rotating shaft unit, so that the rotating center of the device can coincide with the rotating center of a human body bone joint, the discomfort is reduced, meanwhile, abrasion damage to the bone joint is reduced, the trouble that a patient puts on and takes off the brace during training is greatly reduced, and the contact infection risk is reduced. The invention further provides a rehabilitation training method of the device, the actual included angle beta and the control parameter included angle alpha in the CPM host unit are converted, and therefore the CPM host unit is controlled to conduct rehabilitation training according to the actual limb movement angle.

Description

Technical Field

[0001] The present invention relates to a limb joint passive motion device and a training method that can be matched with a brace, and mainly relates to the field of sports rehabilitation. Background Art

[0002] In the prior art, the limb joint passive motion device, also known as CPM (Continuous Passive Motion), is a rehabilitation technology that simulates the natural joint movement of the human body through a mechanical device to provide patients with continuous and controllable passive joint movement training. Its core principle is to promote joint function recovery and reduce postoperative complications by precisely controlling the range of joint movement, movement speed and duration. Continuous passive movement can break the "adhesion-braking" cycle of joint stiffness, promote synovial fluid circulation and cartilage repair. Passive movement can also stimulate muscle contraction, maintain muscle fiber activity, reduce pain perception through low-load exercise, and reduce dependence on analgesics. It is mainly used in scenarios such as orthopedic postoperative rehabilitation and sports injury repair. CPM is divided into lower limb CPM (for knee and hip joints) and upper limb CPM (for shoulder, elbow, and wrist joints) according to the application part.

[0003] For patients with joint contractures and stiffness caused by limb trauma, joint replacements, spastic cerebral palsy, neuromuscular diseases, and congenital or acquired deformities, after undergoing osteotomy, soft tissue surgery, and internal and external fixation, braces or orthoses are required to stabilize the affected areas postoperatively. Range of motion training should be gradually initiated under the doctor's supervision. Rehabilitation training can begin as early as one day after surgery and often needs to continue for up to 10 weeks, or even six months afterward, depending on the patient's condition.

[0004] For patients who need joint mobility training after surgery, they often need to wear braces or orthoses during daytime activities and nighttime rest. During training, it is necessary to temporarily take off the brace or orthosis to perform limb fixation and joint mobility rehabilitation training on the CPM. After the training, the brace or orthosis needs to be worn again. The above-mentioned wearing and taking off process can easily cause fracture displacement, and some patients with spastic diseases may have their spasticity aggravated due to the pain caused by the above-mentioned stimulation. For other patients, it may also cause patients to wear the equipment repeatedly, increasing the burden. At the same time, for general CPM equipment, soft straps are often used to fix the patient's limbs. The straps may become ineffective after long-term use. For hospitals where a large number of patients repeatedly use the same rehabilitation equipment, this contact surface also poses the risk of contact-transmitted diseases. Summary of the Invention

[0005] In order to solve the problems of repeated wearing affecting efficiency, increasing hidden dangers and contact infection, the present invention provides a limb joint passive motion device that can be used with a brace. Figure 1 、 Figure 2The device includes a CPM host unit, a CPM first bracket unit, a CPM second bracket unit, a CPM bracket rotation axis unit, a CPM first bracket moving and positioning unit, a CPM second bracket moving and positioning unit, a first brace unit, a second brace unit, and a brace rotation axis unit. The CPM host unit is a prior art, such as the utility model patent with application number CN201921165842.7 entitled "Lower Limb Joint Rehabilitation Device" and the utility model patent with application number CN202222794526.4 entitled "A Lower Limb Joint Rehabilitation Device." It generally has a motor, a power supply, a connecting rod actuator, a control screen, and a housing, etc. The movement mode is that the inner connecting rod actuator drives the CPM first bracket unit to move, thereby driving the CPM second bracket unit to rotate relative to the bottom rotation axis through the hinged CPM bracket rotation axis unit, thereby realizing the rotation of the CPM first bracket unit relative to the CPM second bracket unit.

[0006] Another approach is to keep the first CPM bracket unit stationary, while the hinged CPM bracket rotation axis unit drives the second CPM bracket unit to rotate relative to it. For example, application number CN202410091187.4 is titled "A Wrist Joint Rehabilitation Device for Elderly Care," and application number CN201510051972.8 is titled "An Elbow Joint Rehabilitation Device."

[0007] Since the above two overall implementation structures are prior art, they will not be described in detail here.

[0008] One end of the CPM first bracket unit and the CPM second bracket unit are respectively connected to the CPM bracket rotation axis unit. The CPM first bracket unit and the CPM second bracket unit can rotate relative to each other around the rotation center of the CPM bracket rotation axis unit and form an orthographic projection angle α (see Figure 3 ). The CPM first bracket movable positioning unit includes a first sleeve, a first fixed handle, and a porous positioning plate. The first sleeve is nested on the CPM first bracket unit and can move along the axis and is fixed by the first fixed handle. The porous positioning plate is fixedly connected to the first sleeve and has several groups of positioning holes. Similarly, the CPM second bracket movable positioning unit includes a second sleeve, a second fixed handle, and a multi-slot positioning plate. The second sleeve is nested on the CPM second bracket unit and can move along the axis and is fixed by the second fixed handle. The multi-slot positioning plate is fixedly connected to the second sleeve and has several groups of positioning slots.

[0009] Preferably, the CPM first bracket moving positioning unit, the CPM second bracket unit, and the CPM bracket rotating axis unit of the device are overall bilaterally symmetrical structures.

[0010] The first brace unit comprises a first base, a first strap, a first side positioning plate, and a first side positioning post. The first base and the first strap are used to support and secure the corresponding limb, the first side positioning plate is fixedly connected to the first base, and the first side positioning post is fixed to the first side positioning plate.

[0011] Similarly, the second brace unit comprises a second base, a second strap, a second side positioning plate, and a second side positioning post. The second base and the second strap are used to support and secure the corresponding limb, the second side positioning plate is fixedly connected to the second base, and the second side positioning post is fixed to the second side positioning plate.

[0012] One end of the first support unit and the second support unit are respectively connected to the support rotation axis unit. The first base of the first support unit and the second base of the second support unit can rotate relative to each other around the rotation center of the support rotation axis unit and form an orthographic projection angle β ( Figure 3 viewing angle).

[0013] Preferably, the rotation center of the brace rotation axis unit coincides with the rotation center of the CPM bracket rotation axis unit, so that the rotation center of the device can coincide with the rotation center of the human bone joint, thereby optimizing the motion trajectory, improving the rehabilitation effect, reducing discomfort and reducing wear and tear on the bone joints.

[0014] Preferably, the first support unit, the second support unit and the support rotation axis unit of the device are overall bilaterally symmetrical structures.

[0015] During operation, the ends of the joint to be moved are secured to the first and second brace units, respectively. The brace's rotation axis unit is then secured to the CPM support's rotation axis unit. The CPM's first and second support's movement and positioning units are then adjusted so that the first and second side positioning columns are secured to the multi-hole positioning plate and multi-slot positioning plate, respectively. This allows the CPM mainframe to rotate the first and second brace units relative to each other, thereby enabling rotational movement of the patient's limb relative to the joint.

[0016] It should be noted that the limb joint passive motion device mentioned in the present invention includes but is not limited to:

[0017] 1. Passive training device for lower limb joints, that is, through knee extension and flexion movements between the calf and thigh, the knee joint and other lower limb joints are driven for rehabilitation training;

[0018] 2. Passive elbow joint training device, which drives the elbow joint for rehabilitation training through flexion and extension movements between the upper arm and forearm;

[0019] 3. Passive wrist joint training device, which drives the wrist joint for rehabilitation training through flexion and extension movements between the palm and forearm;

[0020] 4. Passive shoulder joint training device, which drives the shoulder joint for rehabilitation training through flexion and extension, adduction and abduction movements between the trunk and upper arm;

[0021] These limb joint passive motion devices all feature a CPM first support unit, a CPM second support unit, and a CPM support rotation axis unit. These devices allow the first brace unit to be aligned with the second brace unit and the brace rotation axis unit, allowing for alignment and alignment of the rotation centers of the CPM support rotation axis unit and the brace rotation axis unit. This addresses issues such as repeated wearing that can affect efficiency, increase safety risks, and promote contact transmission.

[0022] This invention combines orthopedic braces and CPM to perform integrated rehabilitation training, which greatly reduces the trouble of patients repeatedly putting on and taking off braces during training, and reduces the risk of iatrogenic injuries and contact infectious diseases. The process of mounting the orthopedic brace unit (including the first brace unit, the second brace unit, and the brace rotation axis unit) only requires three-point direct positioning, which also avoids the situation in the prior art where patients repeatedly adjust their posture on the CPM, and the replacement efficiency is high. Since the force-bearing contact part is a patient-exclusive brace, it has good fit and the training process is more comfortable. In addition, patients use their own exclusive braces to hang on the public CPM host, which is convenient and hygienic, and reduces cross-infection. The invention is also very practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figures 1 to 6 It is a schematic structural diagram of the present invention, wherein Figure 1 、 Figure 2 For three-dimensional stereogram, Figure 3 is the front view, Figure 4 For top view, Figure 5 is the left view, Figure 6 It is a partial cross-sectional view of the CPM bracket rotation axis unit and the support rotation axis unit. DETAILED DESCRIPTION

[0024] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0025] The present invention provides a lower limb joint passive motion device that can be used in conjunction with a brace. Figure 1 、 Figure 2The device includes a CPM host unit 1, a CPM first bracket unit 2, a CPM second bracket unit 3, a CPM bracket rotation axis unit 4, a CPM first bracket moving and positioning unit 5, a CPM second bracket moving and positioning unit 6, a first support unit 7, a second support unit 8, and a support rotation axis unit 9. One end of the CPM first bracket unit 2 and the CPM second bracket unit 3 are respectively connected to the CPM bracket rotation axis unit 4. The CPM first bracket unit 2 and the CPM second bracket unit 3 can rotate relative to each other around the rotation center of the CPM bracket rotation axis unit 4 and form an orthographic projection angle α (see Figure 3 ). The CPM first bracket movable positioning unit 5 includes a first sleeve 51, a first fixed handle 52, and a porous positioning plate 53. The first sleeve 51 is nested on the CPM first bracket unit 2 and can move along the axis and is fixed by the first fixed handle 52. The porous positioning plate 53 is fixedly connected to the first sleeve 51 and has several groups of positioning holes. The CPM second bracket movable positioning unit 6 includes a second sleeve 61, a second fixed handle 62, and a multi-slot positioning plate 63. The second sleeve 61 is nested on the CPM second bracket unit 3 and can move along the axis and is fixed by the second fixed handle 62. The multi-slot positioning plate 63 is fixedly connected to the second sleeve 61 and has several groups of positioning slots.

[0026] The CPM first bracket unit 2, the CPM second bracket unit 3, and the CPM bracket rotating shaft unit 4 of the device are generally bilaterally symmetrical structures.

[0027] The first brace unit 7 comprises a first base 71, a first strap 72, and a first side positioning plate 73. The first base 71 and the first strap 72 are used to support and secure the corresponding limb. The first side positioning plate 73 is fixedly connected to the first base 71, and the first side positioning post 74 is fixed to the first side positioning plate 73.

[0028] Similarly, the second brace unit 8 comprises a second base 81, a second strap 82, a second side positioning plate 83, and a second side positioning post 84. The second base 81 and the second strap 82 are used to support and secure the corresponding limb, the second side positioning plate 83 is fixedly connected to the second base 81, and the second side positioning post 84 is fixed to the second side positioning plate 83.

[0029] One end of the first support unit 7 and the second support unit 8 are respectively connected to the support rotation axis unit 9. The first support unit 7 and the second support unit 8 can rotate relative to each other around the rotation center of the support rotation axis unit 9.

[0030] The rotation center of the support rotation axis unit 9 coincides with the rotation center of the CPM support rotation axis unit 4. Figure 6The CPM stent rotation axis unit 4 comprises an outer stent rotation block 41, an inner stent rotation block 42, a stent rotation axis 43, and a spacer 44. The outer stent rotation block 41 is fixed relative to the CPM second stent unit 3, while the inner stent rotation block 42 is fixed relative to the CPM first stent unit 2. The brace rotation axis unit 9 comprises an outer brace rotation block 91, an inner brace rotation block 92, and a brace rotation axis 93. The outer brace rotation block 91 is fixed relative to the second brace unit 8, while the inner brace rotation block 92 is fixed relative to the first brace unit 7. The stent rotation axis 43 is coaxial with the brace rotation axis 93 and is removably fixed via a threaded pair. The outer stent rotation block 41, the inner stent rotation block 42, the spacer 44, the outer brace rotation block 91, and the inner brace rotation block 92 are respectively nested in the stent rotation axis 43 and the brace rotation axis 93. Both the stent rotation axis 43 and the brace rotation axis 93 have shoulder stop structures to prevent the rotation blocks from falling out. This allows the device's center of rotation to coincide with the human body's bone and joint rotation center, thereby optimizing the trajectory of motion, improving rehabilitation effects, reducing discomfort, and reducing wear and tear on bones and joints.

[0031] The first support unit 7, the second support unit 8 and the support rotation axis unit 11 of the device are of a bilaterally symmetrical structure as a whole.

[0032] Patients who require joint range of motion training after surgery often need to wear a brace during daytime activities and at night. This brace consists of a first brace unit 7, a second brace unit 8, and a brace rotation axis unit 11. The calf and thigh are fixed to the first brace unit 7 and the second brace unit 8, respectively. Generally, one brace is used for the affected left or right leg.

[0033] When movement is required, the brace rotation axis unit 11 is coaxially fixed to the CPM bracket rotation axis unit 4, and then the CPM first bracket mobile positioning unit 5 and the CPM second bracket mobile positioning unit 6 are adjusted so that the first side positioning column 74 and the second side positioning column 84 are fixed to the porous positioning plate and the multi-slot positioning plate respectively. In this way, when the CPM host is working, it can drive the first brace unit 7 and the second brace unit 8 to rotate relative to each other, thereby driving the patient's limbs to rotate relative to the joint. The angle between the bottom of the first base 71 and the second base 81 (angle <180°) is β( Figure 3 perspective), which is the actual angle between the calf and thigh.

[0034] This is a very quick and convenient way to connect the brace that patients need to wear after surgery to the CPM host for rehabilitation training, eliminating the tedious steps of taking off the brace during rehabilitation training and putting on the brace again after training as in the existing technology. The exclusive brace also avoids the risk of cross-infection caused by binding to a common base. In addition, the CPM first bracket mobile positioning unit 5 and the CPM second bracket mobile positioning unit have an agile adjustment structure, so that the same CPM host can be used to adapt to the individual differences of the patient's brace.

[0035] In addition, the invention also provides a rehabilitation training method for a limb joint passive motion device that can be used in conjunction with a brace, the steps of which are as follows:

[0036] 1) Fix the support rotation axis unit 11 coaxially and relatively to the CPM support rotation axis unit 4;

[0037] 2) Adjust the CPM first bracket movable positioning unit 5 and the CPM second bracket movable positioning unit 6 so that the first side positioning column 74 and the second side positioning column 84 are fixed to the multi-hole positioning plate 53 and the multi-slot positioning plate 63 respectively;

[0038] 3) Use an angle ruler to measure the angle β between the bottom of the first base 71 and the bottom of the second base 81 after they are fixed;

[0039] 4) Convert the included angle β to the control parameter included angle α in the CPM host unit 1, thereby controlling the CPM host unit 1 to perform rehabilitation training according to the actual movement angle of the limb.

[0040] This method efficiently attaches the braced limb to the limb joint passive motion device. It also addresses the mismatch between the actual limb angle β and the rotation angle α controlled by the CPM host unit, caused by individual differences in braces and variations in the positions of the first and second locating posts 74 and 84. This ensures consistency between the doctor's prescription and the actual limb motion angle. The conversion between angle α and angle β can be performed manually or automatically using a conversion input interface within the CPM host unit.

[0041] From the overall concept of the solution, it can be seen that this method is also applicable to elbow joint passive training devices, wrist joint passive training devices, shoulder joint passive training devices, etc.

Claims

1. A limb joint passive motion device that can be used with a brace comprises a CPM host unit (1), a CPM first bracket unit (2), a CPM second bracket unit (3), a CPM bracket rotation axis unit (4), a CPM first bracket movement and positioning unit (5), a CPM second bracket movement and positioning unit (6), a first brace unit (7), a second brace unit (8), and a brace rotation axis unit (9); one end of the CPM first bracket unit (2) and the CPM second bracket unit (3) are respectively connected to the CPM bracket rotation axis unit (4); the CPM first bracket unit (2) and the CPM second bracket unit (3) can rotate relative to each other around the rotation center of the CPM bracket rotation axis unit (4); it is characterized in that The rotation center of the support rotation axis unit (9) coincides with the rotation center of the CPM bracket rotation axis unit (4).

2. The limb joint passive motion device that can be matched with a brace according to claim 1, characterized in that The CPM first bracket movable positioning unit (5) comprises a first sleeve (51), a first fixed handle (52), and a porous positioning plate (53); the first sleeve (51) is nested on the CPM first bracket unit (2) and can move along the axis and is fixed by the first fixed handle (52); the porous positioning plate (53) is fixedly connected to the first sleeve (51) and has a plurality of groups of positioning holes.

3. The limb joint passive motion device that can be matched with a brace according to claim 1, characterized in that The CPM second bracket movable positioning unit (6) comprises a second sleeve (61), a second fixed handle (62), and a multi-slot positioning plate (63); the second sleeve (61) is nested on the CPM second bracket unit (3) and can move along the axis, and is fixed by the second fixed handle (62); the multi-slot positioning plate (63) is fixedly connected to the second sleeve (61) and has a plurality of groups of positioning slots.

4. The limb joint passive motion device compatible with a brace according to claim 1, characterized in that The first brace unit (7) comprises a first base support (71), a first binding strap (72), and a first side positioning plate (73); the first base support (71) and the first binding strap (72) are used to carry and fix the corresponding limb, the first side positioning plate (73) is fixedly connected to the first base support (71), and the first side positioning column (74) is fixed on the first side positioning plate (73); the second brace unit (8) comprises a second base support (81), a second binding strap (82), a second side positioning plate (83), and a second side positioning column (84); the second base support (81) and the second binding strap (82) are used to carry and fix the corresponding limb, the second side positioning plate (83) is fixedly connected to the second base support (81), and the second side positioning column (84) is fixed on the second side positioning plate (83).

5. The limb joint passive motion device compatible with a brace according to claim 1, characterized in that The CPM support rotation axis unit (4) comprises an outer support rotation block (41), an inner support rotation block (42), a support rotation axis (43), and a spacer (44); the outer support rotation block (41) is relatively fixed to the CPM second support unit (3); the inner support rotation block (42) is relatively fixed to the CPM first support unit (2); the support rotation axis unit (9) comprises an outer support rotation block (91), an inner support rotation block (92), and a support rotation axis (93); the outer support rotation block (91) is relatively fixed to the second support unit (3); and the inner support rotation block (42) is relatively fixed to the CPM first support unit (2). The unit (8) is relatively fixed, and the inner support rotation block (92) is relatively fixed to the first support unit (7); the support rotation axis (43) and the support rotation axis (93) are coaxial and detachably fixed through a threaded pair; the outer support rotation block (41), the inner support rotation block (42), the spacer (44), the outer support rotation block (91), and the inner support rotation block (92) are respectively nested on the support rotation axis (43) and the support rotation axis (93); and the support rotation axis (43) and the support rotation axis (93) both have a shaft shoulder limiting structure.

6. The limb joint passive motion device compatible with a brace according to claim 1, characterized in that The first support unit (7), the second support unit (8), and the support rotation axis unit (9) are overall bilaterally symmetrical structures.

7. The limb joint passive motion device compatible with a brace according to claim 1, characterized in that The limb joint passive motion device is a lower limb joint passive training device, an elbow joint passive training device, a wrist joint passive training device, or a shoulder joint passive training device.

8. The rehabilitation training method of the limb joint passive motion device compatible with the brace according to claim 1, characterized in that Here are the steps: 1) Fixing the support rotating shaft unit (11) coaxially and relatively to the CPM support rotating shaft unit (4); 2) Adjusting the CPM first bracket movable positioning unit (5) and the CPM second bracket movable positioning unit (6) so that the first side positioning column (74) and the second side positioning column (84) are fixed to the multi-hole positioning plate (53) and the multi-slot positioning plate (63) respectively; 3) Using an angle ruler, measure the angle (β) between the bottom of the first base support (71) and the bottom of the second base support (81) after they are fixed; 4) Convert the included angle (β) to the control parameter included angle (α) in the CPM host unit (1), thereby controlling the CPM host unit (1) to perform rehabilitation training according to the actual movement angle of the limb.

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