Rehabilitation device for foot and ankle injuries

Abstract

The present invention provides a rehabilitation device for ankle injuries, wherein the front end of the horizontal plate is hingedly connected to the front end of the inclined plate, and the front plate is arranged between the rear ends of the inclined plate and the horizontal plate to form a triangular structure, and the upper end of the front plate is abutted against the bottom surface of the inclined plate; the first driving motor drives the front plate to swing so that the inclined plate swings around the front end; the first driving motor is transmission-connected to the first rotating shaft at the lower end of the front plate to drive the front plate to rotate around the first rotating shaft; a slide groove is provided on the lower surface of the inclined plate along the length direction, and a slider that slides with the slide groove is provided at the upper end of the front plate; it also includes two lifting plates, which are arranged on both sides of the bottom of the horizontal plate for driving the horizontal plate and the inclined plate to rise and fall; the two lifting plates are respectively connected to a second driving motor, and the second driving motor is used to drive the lifting plate to rise and fall; when the cam rotates, it drives the lifting plate to rise or fall; the two lifting plates are connected by a connecting plate, and a spring-buffered fixed-angle rotation mechanism is provided on the connecting plate.

Description

Technical Field

[0001] The present invention relates to a rehabilitation device, in particular to a foot rehabilitation device Background Art

[0002] The ankle joint, a critical weight-bearing joint in the human body, plays an essential role in movements such as standing, walking, and jumping. Consequently, it bears significant stress. During activities, uneven surfaces, incorrect posture, or excessive external force can cause the ankle joint to move beyond its maximum range of motion, leading to severe damage to the surrounding tissues, including the joint capsule, ligaments, and tendons. This is medically known as a sprain. Ankle sprains are one of the most common bone injuries seen in orthopedic clinics. Treatment requires precise bone reduction and rigid internal fixation to promote joint mobility and promote repair of articular cartilage. Following injury, patients experience bruising and swelling around the ankle joint. Early mobilization and targeted exercises can help reduce swelling and shorten treatment time. If ankle injuries are not treated promptly, they can lead to excessive laxity of the ankle ligaments, causing joint instability, recurrent sprains, and potentially functional ankle dysfunction, even leading to loss of walking ability. Clinical trials have shown that functional rehabilitation exercises assisted by external force can promote blood circulation, maintain normal muscle strength around the joint, and effectively aid recovery from ankle injuries. Due to a general lack of exercise among modern people and the impact of an aging population, the number of ankle injuries is increasing, but the number of physicians available is insufficient to meet the treatment needs of patients. To reduce the workload of treating physicians, provide more targeted ankle rehabilitation exercises, and achieve more effective treatment results, the development of ankle rehabilitation devices has attracted significant attention from researchers in related fields.

[0003] Ankle rehabilitation devices have been studied for many years, and various rehabilitation devices are common both at home and abroad. Yoon et al. designed a parallel reconfigurable robot that can perform a wide range of exercises. This robot allows movement of the ankle and foot, has four degrees of freedom, and is driven by pneumatic actuators. PK Jamwal and his collaborators developed a soft parallel ankle rehabilitation robot that uses four air artificial muscles as actuators. The device provides the ankle joint with three degrees of freedom of rotation for movement and muscle strengthening training within the necessary range. CM Racu et al. proposed a low-cost, easy-to-manufacture rehabilitation device. The device is small in size and light in weight while ensuring functionality. To avoid damage to the joint, a flexible joint is provided between the motor and the mechanical transmission device. Michal Olinski et al. developed a device that supports human ankle rehabilitation. The device can measure various parameters to diagnose the human body's condition and provide personalized treatment.

[0004] Liu Gengqian et al. proposed a 3-RSS / S parallel mechanism for ankle rehabilitation. This mechanism boasts a compact structure, low inertia, and high load capacity. It also facilitates force feedback compared to other telescopic parallel mechanisms. Li Dashun et al. proposed a symmetrical 3-RRS parallel mechanism with a remote rotation center, which is simple in structure and capable of simultaneously performing active and passive rehabilitation exercises. This mechanism features three-degree-of-freedom fixed-point rotation, enabling corresponding ankle dorsiflexion, plantar flexion, abduction, and adduction exercises. Wu Junpeng et al. designed an ankle rehabilitation device that exercises the ankle in the sagittal plane. This device supports both passive and semi-passive rehabilitation modes. The parameters involved in the rehabilitation training can be set based on a physician's diagnostic information and continuously adjusted during exercise based on patient feedback, providing more scientific and effective rehabilitation for injured ankles. Bai Yang et al. proposed a portable powered ankle-foot orthosis, driven by an electric motor, that provides ankle dorsiflexion and plantar flexion assistance during walking to promote ankle rehabilitation. Summary of the Invention

[0005] The main technical problem to be solved by the present invention is to provide a biomechanically based method for the rehabilitation of foot and ankle injuries, which greatly reduces the labor cost. At the same time, the device can provide personalized customized solutions according to the patient's condition.

[0006] In order to solve the above technical problems, the present invention provides a biomechanically based foot and ankle injury rehabilitation method, comprising the following steps:

[0007] 1) Based on the natural ankle flexion activity of healthy individuals and CT scan data, combined with the biomechanical analysis of the foot with ankle injuries, an initial finite element motion model of patients with ankle injuries was established;

[0008] 2) The contact point between the foot and the ankle injury rehabilitation device was divided into nine zones based on the metatarsal bones, phalanges, arch, and heel. Sensors were installed in each of the nine zones on the ankle injury rehabilitation device. After the device was activated, the sensors measured the velocity, displacement, and acceleration parameters of each zone, and recorded the changes in these parameters after adjusting the different gears. This data was then used as the excitation parameters for the simulation settings and applied to the initial finite element motion model to simulate foot stress analysis.

[0009] 3) Through simulated foot stress analysis, the force conditions and even the degree of pain of the foot are reflected. The gear position is appropriately adjusted based on the stress performance. The corrected excitation parameters will be subjected to biomechanical simulation analysis again, and multiple adjustments will be made until the foot stress performance meets the patient's needs.

[0010] In a preferred embodiment: the ankle injury rehabilitation device specifically includes: a front plate, an inclined plate, a horizontal plate and a first drive motor;

[0011] The front end of the horizontal plate is hinged to the front end of the inclined plate, and the front plate is arranged between the rear ends of the inclined plate and the horizontal plate to form a triangular structure. The upper end of the front plate is abutted against the bottom surface of the inclined plate; the first driving motor drives the front plate to swing so that the inclined plate swings around the front end.

[0012] In a preferred embodiment, the first driving motor is in driving connection with the rotating shaft at the lower end of the front plate to drive the front plate to rotate around the rotating shaft.

[0013] In a preferred embodiment: a sliding groove is provided on the lower surface of the inclined plate along the length direction, and a sliding block is provided on the upper end of the front plate to slide in cooperation with the sliding groove.

[0014] In a preferred embodiment: a groove is provided at the lower end of the front plate, a lug is provided at the rear end of the horizontal plate, the lug is placed in the groove, and the rotating shaft passes through the lug and the groove respectively.

[0015] In a preferred embodiment, two lifting plates are further included, which are arranged on both sides of the bottom of the horizontal plate and are used to drive the horizontal plate and the inclined plate to move up and down.

[0016] In a preferred embodiment, the two lifting plates are respectively connected to a second drive motor, and the second drive motor is used to drive the lifting plates to rise and fall.

[0017] In a preferred embodiment: the second drive motor is connected to the lifting plate through a cam, and the end of the lifting plate away from the cam is connected to the left or right side of the horizontal plate; when the cam rotates, it drives the lifting plate to rise or fall.

[0018] In a preferred embodiment: the two lifting plates are connected by a connecting plate, and a spring-buffered fixed-angle rotating mechanism is provided on the connecting plate. The spring-buffered fixed-angle rotating mechanism drives the foot horizontal plate to rotate within a certain angle range.

[0019] In a preferred embodiment: the spring-buffered fixed-angle rotation mechanism includes a semicircular ring-shaped rotation pair and a semicircular ring-shaped spring; the semicircular ring-shaped rotation pair and the semicircular ring-shaped spring are placed in a circular groove, and the rotation pair is connected to the foot support plate through a rotating shaft.

[0020] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0021] The present invention provides a biomechanically based method for rehabilitation of foot and ankle injuries. The biomechanical motion simulation analysis makes the stress, acceleration, displacement and other parameters of the device more rigorous and accurate, matching the patient's condition. At the same time, the adjustment of damping ensures that the patient will not suffer secondary injuries and improves the patient's comfort during active and passive training. The secondary platform developed based on Abaqus realizes the parameterization of the mechanical analysis and energy analysis processes. Multiple comparisons with the patient's condition make the device's dynamic parameters intuitive and accurate. The platform also brings a highly efficient calculation process, providing patients with timely rehabilitation treatment plans to avoid missing the optimal treatment period. It also establishes a more scientific correction cycle for the patient's subsequent recovery, realizing a highly efficient dynamic rehabilitation process.

[0022] This invention provides a biomechanically based rehabilitation method for ankle injuries. The mechanism is designed based on the training movements used in the treatment plan for ankle injuries. Three motion schemes are available during operation, perfectly matching the vast majority of ankle injuries in society and providing solutions for all. The first involves simulated dorsiflexion and plantar flexion training: The front motor activates, driving the front plate to rotate relative to the horizontal plate. The inclined plate is restrained by a slide rail during rotation. As the front plate moves along the rail, it raises or lowers the inclined plate, raising the sole of the foot restrained on the inclined plate to achieve the purpose of massaging the ankle. Secondly, it simulates the process of artificial assisted ankle inversion and eversion training. The cam lifting plate mechanism lifts one side of the horizontal plate, and uses the four-corner buffer to achieve stable return to position after displacement, prevent vibration, and make the device more stable and safe; finally, it simulates left and right plane rotation movement. After limiting the foot, the motor at the bottom drives the output shaft to rotate. The semicircular fixed-angle rotation mechanism connected to the shaft can realize a certain angle of rotation under the control of the motor. It is matched with a spring buffer structure to achieve smooth transition and switching to prevent secondary ankle injuries. The overall device has good safety performance, complete functions, and simple design. Reducing overly complex mechanical structures can reduce the failure rate of the device and reduce development costs, while improving the safety and durability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a perspective view of a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installed", "provided with", "sleeved / connected", "connected", etc. should be understood in a broad sense. For example, "connection" 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 components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] refer to Figure 1 , this embodiment provides a biomechanically based foot and ankle injury rehabilitation device, comprising: a motor prime mover, a cam-lifting plate mechanism, a four-corner damper support structure, a foot support plate, and a spring-buffered fixed-angle rotation mechanism;

[0028] The motor prime mover comprises a first drive motor 1 and a second drive motor 2 connecting the cams of the two cam-elevator mechanisms;

[0029] The foot support plate includes a horizontal plate 3 and an inclined plate 4 that forms an acute angle with the horizontal plate 3; the horizontal plate 3 is used to connect with the four-corner damper support structure, the lifting plate 5 and the spring-buffered fixed-angle rotation mechanism 6, and the inclined plate 4 is used to place the feet.

[0030] The front end of the horizontal plate 3 is hinged to the front end of the inclined plate 4, and the front plate 7 is arranged between the inclined plate 4 and the rear end of the horizontal plate 3 to form a triangular structure. The upper end of the front plate 7 is against the bottom surface of the inclined plate 4; the first drive motor 1 drives the front plate 7 to swing so that the inclined plate 4 swings around the front end.

[0031] The first drive motor 1 is in driving connection with the rotating shaft at the lower end of the front plate 7 to drive the front plate 7 to rotate around the rotating shaft.

[0032] In order to achieve directional swinging of the front plate 7, a sliding groove is provided on the lower surface of the inclined plate 4 along the length direction, and a slider that slides with the sliding groove is provided on the upper end of the front plate 7.

[0033] In order to install the rotating shaft, a groove is provided at the lower end of the front plate 7, and a lug is provided at the rear end of the horizontal plate 3. The lug is placed in the groove, and the rotating shaft passes through the lug and the groove respectively.

[0034] The lifting plate 5 in the cam-lifting plate 5 mechanism has an end away from the cam connected to the left or right side of the bottom of the foot support plate; the second drive motor 2 drives the lifting plate 5 to rise or fall when the cam is driven to rotate;

[0035] The four-corner damper support structure is connected to the four corners of the foot support plate;

[0036] The spring-buffered fixed-angle rotation mechanism 6 is linked to the foot support plate to drive the foot support plate to rotate within a certain angle range.

[0037] One end of the front plate 7 is rotatably connected to the horizontal plate 3 , and the other end is connected to the universal joint and movably abuts against the lower part of the inclined plate 4 .

[0038] When the cam-lifting plate 5 mechanism drives the horizontal plate 3 to tilt, the four-corner damper support structure will be deformed. In order to make the four-corner damper support structure have a certain anti-deformation ability, springs are set in the four-corner damper support structure along the height direction.

[0039] The spring-buffered fixed-angle rotation mechanism 6 includes a semicircular rotating pair and a semicircular spring; the semicircular rotating pair and the semicircular spring are placed in a circular groove, and the rotating pair is connected to the foot support plate through a rotating shaft.

[0040] The above-mentioned rehabilitation device for treating ankle injuries using a cam-lifting plate 5 structure is designed with reference to the training movements in the treatment plan for ankle injury patients. There are three movement plans during operation, which can perfectly match the vast majority of ankle injuries in society and can find solutions for all of them.

[0041] The first step is to simulate dorsiflexion and plantar flexion training: the first drive motor 1 is started, the front plate 7 rotates relative to the horizontal plate 3, and there is a slide rail on the inclined plate 4. The front plate 7 is restricted in the slide rail when rotating, and moves along the slide rail to drive the inclined plate 4 to rise or fall, and raise the sole of the foot restricted on the inclined plate 4 to achieve the purpose of massaging the foot and ankle.

[0042] Secondly, to simulate the process of artificial assisted ankle inversion and eversion training, the second drive motor 2 drives the cam-elevator 5 mechanism to lift one side of the horizontal plate 3, and uses the four-corner buffer to achieve stable return after displacement, preventing vibration and making the device more stable and safe;

[0043] Finally, the left and right plane rotation movement is simulated. After the foot is limited, the motor at the bottom drives the output shaft to rotate. The semicircular fixed-angle rotation mechanism 6 connected to the shaft can realize a certain angle of rotation under the control of the motor. Combined with the spring buffer structure, a smooth transition and switching is achieved to prevent secondary ankle injuries.

[0044] The overall device has good safety performance, complete functions, simple design, and reducing overly complex mechanical structures can reduce the failure rate of the device and reduce development costs, while improving the safety and durability of the device.

[0045] This embodiment also provides a biomechanically based method for rehabilitation of foot and ankle injuries, comprising the following steps:

[0046] 1) Based on the natural ankle flexion activity of healthy individuals and CT scan data, combined with the biomechanical analysis of the foot with ankle injuries, an initial finite element motion model of patients with ankle injuries was established;

[0047] 2) The contact point between the ankle injury rehabilitation device and the foot, that is, the inclined plate 4 of the device, is divided into nine areas according to the metatarsal bones, phalanges, arches, and heels; sensors are installed in each of the nine areas of the ankle injury rehabilitation device. After the device is started, the sensors measure the velocity, displacement, and acceleration parameters of each area, and record the changes in these parameters after adjusting the different gears. This data is then used as the excitation parameters for the simulation settings and applied to the initial finite element motion model to simulate foot stress analysis;

[0048] 3) Through simulated foot stress analysis, the force conditions and even the degree of pain of the foot are reflected. The gear position is appropriately adjusted based on the stress performance. The corrected excitation parameters will be subjected to biomechanical simulation analysis again, and multiple adjustments will be made until the foot stress performance meets the patient's needs.

[0049] In step 1, the volunteer's foot was scanned using a Philips / Brilliance 64-slice spiral CT scanner. X-ray examination confirmed the absence of bone destruction, such as fractures, deformities, or tumors. The resulting foot CT image data was exported and saved in DICOM format. It was then imported into MIMICS, a specialized medical CT reading software, where appropriate thresholds were selected for bone extraction. Processing and calculations were performed to generate a roughened 3D model of the foot skeleton. This was then smoothed using Geomagic Studio and UG software to create an initial finite element kinematic model of the patient with foot and ankle injury.

[0050] In step 2, a secondary platform developed based on Abaqus parameterizes the mechanical and energy analysis processes. Multiple comparisons with patient conditions make the device's dynamic parameters intuitive and accurate. The platform also provides a highly efficient calculation process, providing patients with timely rehabilitation treatment plans and avoiding missing the optimal treatment period. It also establishes a more scientific correction cycle for the patient's subsequent recovery, achieving a highly efficient dynamic rehabilitation process.

[0051] In step 3, the stress peak, acceleration peak, and other parameters of the ODB result file output by the secondary platform developed based on Abaqus are fed back. For example, the stress should not exceed 7 MPa. Based on the patient's condition, the stage of the condition, and the estimated pain level, the initial mechanical parameters of the device are adjusted until the stress performance, range of motion, and rotation angle of the ankle model meet the patient's treatment requirements and comfort level. A normal ankle joint can dorsiflex and plantar flex 45° each, invert 40°, and evert 35°. To avoid secondary injury, its range of motion should be reduced by 5°. After multiple data comparisons and analyses, the parameters matching the device to the patient's ankle are finally perfected. Throughout the rehabilitation process, bone density needs to be scientifically assessed at different stages in order to set a long-term training plan for the patient.

[0052] The above is only a preferred specific embodiment of the present invention, but the design concept of the present invention is not limited to this. Any technician familiar with this technical field who uses this concept to make non-substantial changes to the present invention within the technical scope disclosed by the present invention shall be deemed to infringe the scope of protection of the present invention.

Claims

1. A rehabilitation device for ankle injury, characterized in that include: A front plate, an inclined plate, a horizontal plate and a first drive motor; The front end of the horizontal plate is hinged to the front end of the inclined plate, and the front plate is arranged between the inclined plate and the rear end of the horizontal plate to form a triangular structure, and the upper end of the front plate is against the bottom surface of the inclined plate; the first driving motor drives the front plate to swing so that the inclined plate swings around the front end; the first driving motor is connected to the first rotating shaft at the lower end of the front plate to drive the front plate to rotate around the first rotating shaft; a slide groove is provided on the lower surface of the inclined plate along the length direction, and the upper end of the front plate is provided with a slider that slides with the slide groove; a groove is provided at the lower end of the front plate, and a lug is provided at the rear end of the horizontal plate, and the lug is placed in the groove, and the first rotating shaft passes through the lug and the groove respectively; it also includes two lifting plates, which are arranged on both sides of the bottom of the horizontal plate, for driving the horizontal plate and the inclined plate to rise and fall; the two The two lifting plates are respectively connected to a second driving motor, and the second driving motor is used to drive the lifting plate to rise and fall; the second driving motor is connected to the lifting plate through a cam, and the end of the lifting plate away from the cam is connected to the left or right side of the horizontal plate; when the cam rotates, the lifting plate is driven to rise or fall; the two lifting plates are connected by a connecting plate, and a spring-buffered fixed-angle rotation mechanism is provided on the connecting plate, and the spring-buffered fixed-angle rotation mechanism is used to drive the horizontal plate to rotate within a certain angle range; the spring-buffered fixed-angle rotation mechanism includes a semicircular rotating pair and a semicircular spring; the semicircular rotating pair and the semicircular spring are placed in a circular groove, and the rotating pair is connected to the horizontal plate through a second rotating shaft; When simulating dorsiflexion and plantar flexion training: the first drive motor is started, the front plate rotates relative to the horizontal plate, and there is a slide groove on the inclined plate. The front plate is confined in the slide groove when rotating. Moving along the slide groove can drive the inclined plate to rise or fall, and raise the sole of the foot confined on the inclined plate.

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