Ankle joint diagnosis and treatment device

Abstract

The present invention relates to the technical field of medical devices, and specifically discloses an ankle joint diagnosis and treatment device. The ankle joint diagnosis and treatment device provided by the present invention includes a wrapping part, an actuator and a diagnostic sensor. The wrapping part is used to wrap the patient's calf and foot. The actuator is movably connected to the wrapping part, and can drive the patient's ankle joint to move. The actuator has a power-assisting state for driving the patient's ankle joint movement, a resistance state for hindering the patient's ankle joint movement, and a force-unloading state for allowing the patient's ankle joint to move freely. The diagnostic sensor is arranged on the wrapping part, and is used to detect the movement status of the ankle joint. The ankle joint diagnosis and treatment device provided by the present invention integrates diagnosis and treatment, can meet the patient's needs for various ankle joint movements, has a simple structure, and allows the patient to get rid of the restrictions of the use site when using it, which is helpful for the patient's recovery.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an ankle joint diagnosis and treatment device. Background Art

[0002] Patients with ankle injuries or strokes usually use equipment to assist in ankle rehabilitation training. Existing rehabilitation training devices have single functions. Devices that integrate diagnosis and treatment are used in hospitals and occupy a large area. The places where patients can use them are limited and there are many inconveniences in their use. In addition, the structures of devices that integrate diagnosis and treatment in the prior art are complex. Summary of the invention

[0003] The purpose of the present invention is to provide an ankle joint diagnosis and treatment device that integrates diagnosis and treatment and frees patients from the limitations of the use site when using it.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] An ankle joint diagnosis and treatment device, comprising:

[0006] A wrapping part, used for wrapping the patient's calves and feet;

[0007] An actuator, comprising a first actuator, a second actuator and a third actuator, all of which are movably connected to the wrapping portion, the first actuator, the second actuator and the third actuator are all capable of driving extension and contraction, and the actuator has a power-assisting state for driving the patient's ankle joint movement, a resistance state for hindering the patient's ankle joint movement, and a force-unloading state for allowing the patient's ankle joint to move freely;

[0008] The diagnostic sensor is arranged on the wrapping portion and is used for detecting the movement condition of the ankle joint.

[0009] Preferably, the wrapping portion comprises a leg cover and a foot cover which are connected to each other, the leg cover is a cylindrical structure, and one end of the leg cover is movably connected to the opening of the foot cover.

[0010] Preferably, the actuator comprises:

[0011] A first actuator, one end of which is connected to the upper end of the left side of the leg cover, and the other end of which is connected to the front end of the foot cover;

[0012] A second actuator, one end of which is connected to the upper end of the right side of the leg cover, and the other end of which is connected to the front end of the foot cover;

[0013] A third actuator is arranged on the left or right side of the leg cover, one end of which is connected to the upper end of the leg cover, and the other end of which is connected to the rear end of the foot cover;

[0014] Preferably, the diagnostic sensor comprises a first inertial sensor and a second inertial sensor; the first inertial sensor is arranged on the leg cover, and the second inertial sensor is arranged on the foot cover.

[0015] Preferably, the first actuator is a pneumatic cylinder, a hydraulic cylinder, an electric push rod or a pneumatic muscle; the second actuator is a pneumatic cylinder, a hydraulic cylinder, an electric push rod or a pneumatic muscle; the third actuator is a pneumatic cylinder, a hydraulic cylinder, an electric push rod or a pneumatic muscle.

[0016] Preferably, a massage airbag is provided at the rear of the leg cover, and a first air supply port that can be opened and closed is provided on the massage airbag, and gas enters and exits the massage airbag through the first air supply port.

[0017] Preferably, the diagnostic sensor comprises a plantar pressure sensor, which is arranged inside the wrapping portion and under the sole of the patient's foot, and the plantar pressure sensor can detect the force distribution of the sole.

[0018] Preferably, the plantar pressure sensor is a thin film sensor.

[0019] Preferably, the actuator and the wrapping portion are ball-jointed, or the actuator and the wrapping portion are connected via a flexible connector.

[0020] Preferably, a first fixing piece is provided at the upper end of the leg cover, one end of the actuator is connected to the first fixing piece, and the other end of the actuator is connected to the foot cover.

[0021] Beneficial effects of the present invention: the wrapping part is used to wrap the patient's calf and foot, and plays a protective and supporting role for the patient's leg and foot. The actuator has three states: assisting state, resistance state and unloading state. In the assisting state, the actuator provides power to the patient to help the patient realize the movement of the ankle joint so that the patient can perform rehabilitation training; in the resistance state, it can provide enhanced strength training for the patient; in the unloading state, there is neither assisting nor resisting the patient, and the patient can freely drive the movement of the ankle joint. The diagnostic sensor can be used to detect the recovery status of the patient's ankle joint in the unloading state by detecting the movement of the ankle joint, and can also feed back the patient's current movement status to the actuator in the resistance or assisting state, so that the actuator is in the corresponding state. The ankle joint diagnosis and treatment device provided by the present invention integrates diagnosis and treatment, can meet the patient's needs for various ankle joint movements, has a simple structure, and allows patients to get rid of the restrictions of the use site when using it, which is helpful for the patient's rehabilitation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1is a schematic diagram of the structure of a patient using an ankle joint diagnosis and treatment device provided by an embodiment of the present invention;

[0023] Figure 2 is a schematic structural diagram of an ankle joint diagnosis and treatment device provided by an embodiment of the present invention;

[0024] Figure 3 It is a schematic diagram of the actuator provided in an embodiment of the present invention driving the ankle joint to be in different motion states.

[0025] In the figure:

[0026] 1-first actuator; 2-second actuator; 3-third actuator;

[0027] 4-leg cover; 41-first fixing member; 5-foot cover;

[0028] 6-massage airbag; 61-first air supply port;

[0029] 7-first inertial sensor; 8-second inertial sensor; 9-plantar pressure sensor. DETAILED DESCRIPTION

[0030] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and through specific implementation methods. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It is also necessary to explain that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, rather than all.

[0031] The present invention defines some directional words. In the absence of any contrary explanation, the directional words used, such as "up", "down", "left", and "right", refer to the ankle joint diagnosis and treatment device provided by the present invention under normal use, and are consistent with the up, down, left, and right directions shown in the figure. "Inside" and "outside" refer to the inside and outside relative to the contours of each part itself. These directional words are used for ease of understanding and do not constitute a limitation on the scope of protection of the present invention.

[0032] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0033] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] This embodiment provides an ankle joint diagnosis and treatment device that integrates diagnosis and treatment, is suitable for patients with ankle joint injuries, and can help patients recover as soon as possible.

[0035] like Figure 1 As shown, the ankle joint diagnosis and treatment device provided in this embodiment includes a wrapping portion, an actuator and a diagnostic sensor. The wrapping portion is used to wrap the patient's calf and foot. The actuator includes a first actuator 1, a second actuator 2 and a third actuator 3, which are all movably connected to the wrapping portion, and the first actuator 1, the second actuator 2 and the third actuator 3 can all be driven to extend and retract. The actuator has a power-assisting state for driving the patient's ankle joint movement, a resistance state for hindering the patient's ankle joint movement, and a force-unloading state for allowing the patient's ankle joint to move freely; the diagnostic sensor is arranged on the wrapping portion to detect the movement condition of the ankle joint.

[0036] The wrapping part is used to wrap the patient's calves and feet, and plays a protective and supporting role for the patient's legs and feet. The actuator has three states: a power-assisting state, a resistance state, and a force-unloading state. In the power-assisting state, the actuator provides power to the patient to help the patient achieve ankle joint movement; in the resistance state, it can provide enhanced strength training for the patient; in the force-unloading state, there is neither power nor resistance to the patient, and the patient can freely drive the ankle joint movement by himself. The diagnostic sensor detects the movement of the ankle joint, and can be used to detect the patient's ankle joint recovery status in the force-unloading state, and can also feed back the patient's current movement status to the actuator in the resistance or power-assisting state, so that the actuator is in the corresponding state. The ankle joint diagnosis and treatment device provided by the present invention integrates diagnosis and treatment, can meet the patient's needs for various ankle joint movements, has a simple structure, and allows patients to use it without being restricted by the use site, which is helpful for the patient's recovery.

[0037] Specifically, the wrapping portion includes a leg cover 4 and a foot cover 5 that are connected to each other, the foot cover 5 has an opening, the leg cover 4 is a cylindrical structure, and one end of the leg cover 4 is movably connected to the opening of the foot cover 5. In this embodiment, the wrapping portion can be made into a boot shape, the leg cover 4 and the foot cover 5 can be integrally formed, and the wrapping portion is made of a flexible material, so that the wrapping portion located at the ankle joint will not hinder the movement of the ankle joint.

[0038] Specifically, one end of the first actuator 1 is connected to the upper end of the left side of the leg cover 4, and the other end is connected to the front end of the foot cover 5; one end of the second actuator 2 is connected to the upper end of the right side of the leg cover 4, and the other end is connected to the front end of the foot cover 5; the third actuator 3 is arranged on the left side of the leg cover 4, one end is connected to the upper end of the leg cover 4, and the other end is connected to the rear end of the foot cover 5. Of course, in other embodiments, the third actuator 3 can also be arranged on the right side of the leg cover 4. By setting three retractable actuators, the three actuators are linked to achieve different movements of the ankle joint.

[0039] In this embodiment, the first actuator 1, the second actuator 2 and the third actuator 3 are pneumatic cylinders. In other embodiments, the structure of the three actuators can also be a retractable structure such as a hydraulic cylinder, an electric push rod or a pneumatic muscle. Both the electric push rod and the pneumatic muscle are prior art, and their structures are not described in detail here. For the sake of structural simplicity, the three actuators are preferably of the same structure. Of course, the structure of the three actuators can be two or three of the pneumatic cylinder, hydraulic cylinder, electric push rod or pneumatic muscle, which is not limited here.

[0040] like Figure 2 As shown, when the patient uses the ankle joint diagnosis and treatment device, the initial state of the actuator is set in an upright state, such as Figure 3 As shown, Figures ①-⑥ are schematic diagrams of the actuator driving the patient's ankle joint to perform dorsiflexion, flexion, inversion, eversion, internal rotation and external rotation. Through the expansion and contraction changes of one or more of the first actuator 1, the second actuator 2 and the third actuator 3, various movements of the ankle joint are achieved.

[0041] like Figure 2 As shown, a first fixing member 41 is provided at the upper end of the leg sleeve 4, and one end of the first actuator 1, one end of the second actuator 2, and one end of the third actuator 3 are all connected to the first fixing member 41. In this embodiment, the first fixing member 41 is annular and is sleeved on the upper end of the leg sleeve 4. Both sides of the first fixing member 41 are provided with protruding parts, which are used to connect the actuator. The first fixing member 41 fixes the leg sleeve 4 to the patient's leg to prevent the leg sleeve 4 from falling off. The first fixing member 41 can also be used to connect the actuator and the leg sleeve 4.

[0042] Preferably, the actuator and the wrapping part are ball-jointed. In this embodiment, the actuator and the first fixing member 41 are ball-jointed, that is, the first actuator 1, the second actuator 2, the third actuator 3, and the leg cover and the foot cover are connected by a ball joint. Of course, in other embodiments, the actuator and the wrapping part can also be connected by a flexible connector, which is a prior art and its structure is not described here.

[0043] Specifically, the diagnostic sensor includes a first inertial sensor 7 and a second inertial sensor 8, and the first inertial sensor 7 and the second inertial sensor 8 can detect the movement of the ankle joint, such as detecting the movement angle, speed and acceleration of the patient's ankle joint. The first inertial sensor 7 is arranged on the leg sleeve 4, and the second inertial sensor 8 is arranged on the foot sleeve 5. In this embodiment, the first inertial sensor 7 and the second inertial sensor 8 are buried in the wrapping part. Preferably, the first inertial sensor 7 is arranged at a position of the leg sleeve close to the middle of the front of the calf, and the second inertial sensor 8 is arranged at a position of the foot sleeve close to the middle of the instep. At this time, the sensors installed by the first inertial sensor 7 and the second inertial sensor 8 are located on the plane of toe flexion and dorsiflexion, which is easy to calibrate the parameters of the first inertial sensor 7 and the second inertial sensor 8.

[0044] Specifically, the diagnostic sensor includes a plantar pressure sensor 9, which is arranged inside the wrapping part and under the sole of the patient. The plantar pressure sensor 9 can detect the force distribution of the sole and detect whether the center of gravity of the patient is shifted.

[0045] In this embodiment, the sole pressure sensor 9 is a thin film sensor. The thin film sensor is laid inside the foot cover and on the bottom surface under the sole of the patient's foot, which can detect the pressure distribution of the entire sole and further analyze the change of the patient's center of gravity.

[0046] Specifically, a massage airbag 6 is provided at the rear of the leg sleeve 4, and a first air supply port 61 that can be opened and closed is provided on the massage airbag 6, and gas enters and exits the massage airbag 6 through the first air supply port 61. The massage airbag 6 is added to massage the patient's legs, and the massage airbag 6 presses the acupuncture points of the legs through the process of inflation and deflation. Arranging multiple massage airbags 6 can achieve better massage effects, thereby helping the patient's recovery.

[0047] In this embodiment, the actuator and the diagnostic sensor are connected to the controller, the diagnostic sensor feeds data back to the controller, the controller analyzes the movement of the patient's ankle joint, and the controller controls the actuator to drive and be in different states. The controller can be a centralized or distributed controller, for example, the controller can be a single microcontroller or a distributed multi-chip microcontroller, and the microcontroller can run a control program to control the actuator and the diagnostic sensor to achieve their functions.

[0048] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An ankle joint diagnosis and treatment device, characterized in that: include: A wrapping part, used for wrapping the patient's calves and feet; An actuator, comprising a first actuator (1), a second actuator (2) and a third actuator (3) all movably connected to the wrapping portion, the first actuator (1), the second actuator (2) and the third actuator (3) all being capable of being driven to extend and retract, the actuator having a power-assisting state for driving the patient's ankle joint to move, a resistance state for hindering the patient's ankle joint movement, and a force-unloading state for allowing the patient's ankle joint to move freely; a diagnostic sensor, disposed on the wrapping portion, for detecting a motion condition of an ankle joint; The wrapping portion comprises a leg cover (4) and a foot cover (5) which are connected to each other, the leg cover (4) being a cylindrical structure, and one end of the leg cover (4) being movably connected to the opening of the foot cover (5); The diagnostic sensor comprises a first inertial sensor (7) and a second inertial sensor (8); the first inertial sensor (7) is arranged on the leg cover (4), and the second inertial sensor (8) is arranged on the foot cover (5); The first actuator (1) is a pneumatic cylinder, a hydraulic cylinder, an electric push rod or a pneumatic muscle; The second actuator (2) is a pneumatic cylinder, a hydraulic cylinder, an electric push rod or a pneumatic muscle; The third actuator (3) is a pneumatic cylinder, a hydraulic cylinder, an electric push rod or a pneumatic muscle; The diagnostic sensor can detect the recovery of the ankle joint in a force-unloading state by detecting the movement of the ankle joint, and can feed back the movement of the ankle joint in a resistance or assistance state to the actuator, thereby placing the actuator in a corresponding state.

2. The ankle joint diagnosis and treatment device according to claim 1, characterized in that: The executive mechanism comprises: A first actuator (1), one end of which is connected to the upper end of the left side of the leg cover (4), and the other end of which is connected to the front end of the foot cover (5); A second actuator (2), one end of which is connected to the upper end of the right side of the leg cover (4), and the other end of which is connected to the front end of the foot cover (5); The third actuator (3) is arranged on the left side or the right side of the leg cover (4), one end of which is connected to the upper end of the leg cover (4) and the other end of which is connected to the rear end of the foot cover (5).

3. The ankle joint diagnosis and treatment device according to claim 1, characterized in that: A massage airbag (6) is arranged at the rear of the leg cover (4), and a first air supply port (61) which can be opened and closed is arranged on the massage airbag (6), and gas enters and exits the massage airbag (6) through the first air supply port (61).

4. The ankle joint diagnosis and treatment device according to claim 1, characterized in that: The diagnostic sensor comprises a plantar pressure sensor (9), which is arranged inside the wrapping portion and under the sole of the patient's foot. The plantar pressure sensor (9) is capable of detecting force distribution on the sole of the foot.

5. The ankle joint diagnosis and treatment device according to claim 4, characterized in that: The plantar pressure sensor (9) is a thin film sensor.

6. The ankle joint diagnosis and treatment device according to claim 1, characterized in that: The actuator and the wrapping portion are ball-jointed, or the actuator and the wrapping portion are connected via a flexible connector.

7. The ankle joint diagnosis and treatment device according to claim 1, characterized in that: A first fixing member (41) is provided at the upper end of the leg cover (4), one end of the actuator is connected to the first fixing member (41), and the other end of the actuator is connected to the foot cover (5).

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