Multi-degree-of-freedom bionic intelligent orthosis system and method

Abstract

The present invention provides a multi-degree-of-freedom bionic intelligent orthosis system and method, which relates to the field of rehabilitation assistive devices. The system includes: an information acquisition module, a multi-degree-of-freedom bionic orthosis mechanism, a calf wrapping device, a knee-leg connector, and an intelligent adjustment control data platform; the information acquisition module is used to collect human kinematics and joint injury information; the multi-degree-of-freedom bionic orthosis mechanism includes: a cross control element that imitates the collateral ligament and the anterior and posterior cruciate ligament, a knee flexor control element, a knee extensor control element, a compound motion ring, a position sensor, and a correction auxiliary power device; the calf wrapping device is used for load bearing and suspension; the intelligent adjustment control data platform is used to receive and process the information sent by the acquisition module and the position sensor, and generate a control signal to send to the correction auxiliary power device. Through the above system, the joint can be guided to perform non-destructive and painless movements under normal force and stability, thereby promoting joint repair to achieve the correction goal.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation aids, and in particular to a multi-degree-of-freedom bionic intelligent orthosis system and method. Background Art

[0002] Degenerative bone and joint diseases are more common in the elderly population, among which a large number of patients suffer from knee osteoarthritis, which is clinically manifested as varying degrees of pain, limited mobility, deformity, bone friction and muscle atrophy. The cause of the disease is that when soft tissue dysfunction and damage occur, mechanical and neural changes occur, the normal arrangement of soft tissue, cell activity and tissue water content change, stress distribution imbalance or excessive load causes cartilage wear, and the self-repair ability decreases, leading to joint dysfunction and potential degeneration.

[0003] Orthoses are common rehabilitation assistive devices, and their functions generally include: preventing and correcting deformation, supporting body weight (load-free), compensating for or assisting lost functions, etc. At present, the main functions of knee orthoses used for degenerative bone and joint diseases are lateral support, limiting joint mobility, partial load-free, etc. Most of the joint components of existing knee orthoses are single-axis or simple hinge structures. The knee joint is the most complex and load-bearing joint in the human body, including tissues such as the distal femur, proximal tibia, joint capsule, cruciate ligaments, and meniscus. Therefore, existing orthoses cannot achieve the purpose of fully stabilizing the joints, guiding normal forces, and especially restoring normal motor function. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a multi-degree-of-freedom bionic intelligent orthosis system and a bionic orthosis method to alleviate the problem that existing orthoses are unable to fully stabilize joints and guide normal force.

[0005] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0006] In the first aspect, an embodiment of the present invention provides a multi-degree-of-freedom bionic intelligent orthotic system, comprising: an information acquisition module, a multi-degree-of-freedom bionic orthotic mechanism, a calf wrapping device, a knee-leg connecting piece and an intelligent adjustment control data platform; the information acquisition module is used to collect human kinematics and joint injury information; the multi-degree-of-freedom bionic orthotic mechanism comprises: a cross control element imitating the collateral ligament and the anterior and posterior cruciate ligament, a knee flexor control element, a knee extensor control element and a compound motion ring; the multi-degree-of-freedom bionic orthotic mechanism also includes a position sensor and a correction auxiliary power device; the position sensor is used to collect relative position information of the femur and tibia; the calf wrapping device is used for load-bearing and suspension; the knee-leg connecting piece is used to firmly connect the multi-degree-of-freedom bionic orthotic mechanism with the calf wrapping device; the intelligent adjustment control data platform is used to receive and process the information sent by the acquisition module and the position sensor, and generate a control signal to send to the correction auxiliary power device.

[0007] In some possible implementations, the above-mentioned human kinematics and joint injury information includes: relative spatiotemporal information of the femur and tibia of healthy people and patients during exercise, human body size information, and disease diagnosis information; the above-mentioned relative spatiotemporal information of the femur and tibia includes the following six degrees of freedom: knee flexion or extension, knee adduction or knee abduction, knee internal rotation or knee external rotation, inward movement or outward movement, forward movement or backward movement, proximal displacement or distal displacement.

[0008] In some possible embodiments, the multi-degree-of-freedom bionic orthotic mechanism includes four cross-control elements that simulate the lateral collateral ligaments and the anterior and posterior cruciate ligaments; each of the cross-control elements includes the position sensor and the auxiliary power device; the cross-control element is used to provide auxiliary power for traction limitation; the four cross-control elements are respectively located from the upper front to the lower back on the inner side of the knee joint, from the upper back to the lower back on the inner side of the knee joint, from the upper front to the lower back on the outer side of the knee joint, from the upper front to the lower back on the outer side of the knee joint, and from the upper back to the lower back on the outer side of the knee joint; wherein, the two cross-control elements on the inner side of the knee joint are used to simulate the medial collateral ligament, the two cross-control elements on the outer side of the knee joint are used to simulate the lateral collateral ligament, the two cross-control elements from the upper back to the lower front are also used to simulate the anterior cruciate ligament, and the two cross-control elements from the upper front to the lower back are also used to simulate the posterior cruciate ligament.

[0009] In some possible embodiments, the multi-degree-of-freedom bionic orthotic mechanism includes two of the above-mentioned knee flexor simulated muscle control elements and two of the above-mentioned knee extensor simulated muscle control elements, each of the above-mentioned control elements includes the above-mentioned position sensor and the above-mentioned correction auxiliary power device, and the above-mentioned control element is used to provide correction auxiliary power for telescopic drive; the two above-mentioned knee flexor simulated muscle control elements are located on the rear side of the knee joint, and the two above-mentioned knee extensor simulated muscle control elements are located on the front side of the knee joint.

[0010] In some possible embodiments, the above-mentioned compound motion ring includes a proximal compound motion ring and a distal compound motion ring; the upper ends of the eight control elements are connected to the above-mentioned proximal compound motion ring, and the lower ends of the eight control elements are connected to the above-mentioned distal compound motion ring, and the above-mentioned control elements are connected to the above-mentioned compound motion ring in the manner of a ball hinge.

[0011] In some possible embodiments, the calf and calf wrapping device comprises an elastic covering belt and a compression plate; wherein the elastic covering belt spans over all structures of the knee joint, opens to the edge above the patella, and is tightened at the opening in a lace-up manner; the compression plate is located in the soft tissue area above the medial and lateral condyles of the femur, the popliteal fossa area, and the bone plane area on the side of the tibial spine; one side of the compression plate is connected to the elastic covering belt, and the other side of the compression plate is connected to the knee-leg connector; one side of the knee-leg connector is connected to the calf and calf wrapping device, and the other side of the knee-leg connector is connected to the compound motion ring.

[0012] In some possible implementations, the intelligent adjustment and control data platform includes a human joint orthopedic database and correction strategies; the carrier medium of the intelligent adjustment and control data platform includes a computer, a mobile phone, a tablet, and a display panel; and the control method of the intelligent adjustment and control data platform includes a personalized setting function.

[0013] In the second aspect, an embodiment of the present invention provides a multi-degree-of-freedom bionic intelligent orthotic method, which is applied to any one of the multi-degree-of-freedom bionic intelligent orthotic systems mentioned above in the first aspect, and the method includes: the position sensor of the multi-degree-of-freedom bionic orthotic mechanism collects real-time position information of the human knee joint and sends it to the intelligent adjustment and control data platform; the intelligent adjustment and control data platform processes the information collected by the information collection module to determine the initial position and correction target of the multi-degree-of-freedom bionic orthotic mechanism; the intelligent adjustment and control data platform sends the correction target to the multi-degree-of-freedom bionic orthotic mechanism, so that the multi-degree-of-freedom bionic intelligent orthotic system can achieve the correction target; wherein the calf wrapping device is worn to the specified position of the knee joint; the front knee strap of the calf wrapping device is used to adjust the tightness; the knee-leg connecting piece is used to fix the multi-degree-of-freedom bionic orthotic mechanism on the calf wrapping device.

[0014] In some possible implementations, the method also includes: the above-mentioned intelligent adjustment and control data platform establishes an orthopedic database based on the information collected by the above-mentioned information collection module and pre-stored parameters; the above-mentioned pre-stored parameters include: healthy human anatomical parameters, motion time and space parameters, and patient medical history, imaging, and laboratory examination diagnostic parameters; the above-mentioned intelligent adjustment and control data platform analyzes the external support conditions required for the knee joint to restore normal motion function based on the above-mentioned orthopedic database, and determines the correction target; the above-mentioned correction target includes the functional rehabilitation indicators and parameters of the above-mentioned knee joint.

[0015] In some possible implementations, the method further includes: based on the above-mentioned orthopedic database, using supervised learning to iterate and optimize to achieve the corrective movement function of the above-mentioned knee joint; based on the above-mentioned orthopedic database, using an unsupervised learning algorithm to separate and extract functional rehabilitation indicators of the above-mentioned knee joint to optimize the orthopedic effect.

[0016] The present application provides a multi-degree-of-freedom bionic intelligent orthosis system and method, the system includes: an information acquisition module, a multi-degree-of-freedom bionic orthosis mechanism, a calf wrapping device, a knee-leg connector and an intelligent adjustment control data platform; the information acquisition module is used to collect human kinematics and joint injury information; the multi-degree-of-freedom bionic orthosis mechanism includes: a cross control element that imitates the collateral ligament and the anterior and posterior cruciate ligament, a knee flexor control element, a knee extensor control element, a compound motion ring, a position sensor and a correction auxiliary power device; the calf wrapping device is used for load bearing and suspension; the intelligent adjustment control data platform is used to receive and process the information sent by the acquisition module and the position sensor, and generate a control signal to send to the correction auxiliary power device. Through the above system, the joints can be guided to perform non-destructive and painless movements under normal force and stability, thereby promoting joint repair to achieve the correction goal. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of the overall structure of a multi-degree-of-freedom bionic intelligent orthosis system provided by an embodiment of the present invention;

[0019] Figure 2 A schematic structural diagram of a multi-degree-of-freedom bionic orthotic mechanism provided by an embodiment of the present invention;

[0020] Figure 3 A schematic structural diagram of a calf and calf wrapping device of a multi-degree-of-freedom bionic intelligent orthosis system provided by an embodiment of the present invention;

[0021] Figure 4 A schematic structural diagram of a multi-view, multi-degree-of-freedom bionic intelligent orthosis system provided by an embodiment of the present invention;

[0022] Figure 5 A schematic flow chart of a multi-degree-of-freedom bionic intelligent orthosis method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, 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. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] Degenerative bone and joint diseases are common in the elderly, among which a large number of patients suffer from knee osteoarthritis, which is clinically manifested as varying degrees of pain, limited mobility, deformity, bone friction and muscle atrophy. The cause of the disease may be soft tissue dysfunction and injury, which causes mechanical and neural changes, changes in the normal arrangement of soft tissues, cell activity and tissue water content, imbalanced stress distribution or excessive load causing cartilage wear, and reduced self-repair ability, leading to joint dysfunction and potential degeneration.

[0026] Joint dysfunction and degeneration will stimulate the sensory nerve receptors of the soft tissues around the joints, inhibit or induce excessive tension in the surrounding muscles, and lead to abnormal coordination and balance. Therefore, in order to solve and avoid problems such as dry joints and degeneration caused by lack of exercise, guiding the joints to restore normal and painless movement functions under normal force and stability can promote the exchange of cells and fluids inside and outside the joints, promote joint lubrication by stimulating the synovium, reduce swelling that can cause pain, reduce activity and tissue stasis, etc., thereby promoting joint recovery and achieving the goal of correction.

[0027] Orthoses are common rehabilitation assistive devices, and their functions generally include: preventing and correcting deformation, supporting body weight (load-free), compensating for or assisting lost functions, etc. At present, the main functions of knee orthoses used for degenerative bone and joint diseases are lateral support, limiting joint mobility, partial load-free, etc. Most of the joint components of existing knee orthoses are single-axis or simple hinge structures. The knee joint is the most complex and load-bearing joint in the human body, including tissues such as the distal femur, proximal tibia, joint capsule, cruciate ligaments, and meniscus. Therefore, existing orthoses cannot fully stabilize the joints and guide normal forces, especially the purpose of restoring normal motor function.

[0028] Based on this, the embodiment of the present invention provides a multi-degree-of-freedom bionic intelligent orthosis system and method. To facilitate understanding of the present embodiment, a multi-degree-of-freedom bionic intelligent orthosis system disclosed in the embodiment of the present invention is first introduced in detail. It should be noted that in order to clarify the morphology, position and mutual relationship of various parts and structures of the human body, a standard posture (i.e., anatomical posture) must be established first. This application shall be based on this standard posture when describing any body position. The terms "upper", "lower", "left", "right", "front", "back", "inside", "outside", "proximal", "distal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the anatomical posture.

[0029] See also Figure 1 The overall structural diagram of a multi-degree-of-freedom bionic intelligent orthotic system is shown, and the system mainly includes the following structures: an information acquisition module, a multi-degree-of-freedom bionic orthotic mechanism 100, a calf and leg wrapping device 400, a knee-leg connector 500 and an intelligent adjustment control data platform.

[0030] Among them, the information acquisition module can be used to collect information such as human kinematics and joint injuries. As a specific example, the information acquisition module can be a custom-developed software that is compatible, efficient, has a reserved expansion interface, and is easy to operate. It can directly access data such as gait analysis systems and three-dimensional computer-aided design software. The collected human kinematics and joint injury information generally includes: relative spatiotemporal information of the femur and tibia of healthy people and patients during exercise, human body size information, and disease diagnosis information. For example, human body size information may include: thigh circumference, calf circumference, thigh length, calf length, medial and lateral femoral condyle width, knee gap width, etc.; and the relative spatiotemporal information of the femur and tibia generally includes the following six degrees of freedom: knee flexion or extension, knee adduction or knee abduction, knee internal rotation or knee external rotation, inward or outward movement, forward or backward movement, proximal displacement or distal displacement.

[0031] The structure that stabilizes the knee joint is usually composed of four ligaments: the anterior cruciate ligament, the posterior cruciate ligament, the medial collateral ligament, and the lateral collateral ligament. The muscles that move the knee joint are mainly divided into two categories: knee extensors and knee flexors. The knee flexors include the biceps femoris, semitendinosus, semimembranosus, gastrocnemius, plantaris, and popliteus; the knee extensors include the quadriceps femoris. Among them, the lateral collateral ligament is the main stabilizing structure against knee adduction; the medial collateral ligament is an important structure of the knee joint to resist abduction load and limit tibial external rotation; the main function of the anterior cruciate ligament is to prevent the anterior displacement of the tibia, and the secondary function is to prevent excessive internal rotation of the tibia, maintain the internal and external valgus angle of the knee joint, and prevent excessive extension of the knee joint; the posterior cruciate ligament is the main posterior stabilizing structure of the knee joint, which can prevent excessive posterior displacement of the tibia, limit hyperextension and lateral movement, and play an important supporting role in rotational stability.

[0032] Therefore, in one embodiment, the multi-degree-of-freedom bionic orthosis 100 includes four cross control elements imitating collateral ligaments and anterior and posterior cruciate ligaments, two control elements imitating knee flexors and two control elements imitating knee extensors, and two compound motion rings. That is, the multi-degree-of-freedom bionic orthosis 100 includes a total of eight control elements and two compound motion rings, of which four control elements are cross control elements.

[0033] Among the four cross control elements, two cross control elements that can be used to simulate the medial collateral ligament are arranged on the medial side of the knee joint (see Figure 2 The cross control element 111 shown in solid lines, and the other two control elements that can be used to simulate the lateral collateral ligament are arranged on the outside of the knee joint (see Figure 2 In the other four control elements, two simulated knee flexor control elements 113 are located at the rear side A of the knee joint, and two simulated knee extensor control elements 114 are located at the front side B of the knee joint. Figure 2 This is the medial view of the user's knee joint.

[0034] In one embodiment, each of the above-mentioned eight control elements includes a position sensor and a correction auxiliary power device, wherein the position sensor is used to collect relative position information of the femur and tibia, and the correction auxiliary power device is used to provide correction auxiliary power to the knee joint according to the control signal.

[0035] Among them, four cross control elements imitating collateral ligaments and anterior and posterior cruciate ligaments are used to provide auxiliary power for correction of traction and limitation; two control elements imitating knee flexors and two control elements imitating knee extensors are used to provide auxiliary power for correction of telescopic drive. As a specific example, the installation directions of the above four cross control elements are: from the front upper to the back lower of the inner side of the knee joint, from the back upper to the front lower of the inner side of the knee joint, from the front upper to the back lower of the outer side of the knee joint, and from the back upper to the front lower of the outer side of the knee joint.

[0036] Among them, the two cross-control elements on the inner side of the knee joint are used to simulate the medial collateral ligament, the two cross-control elements on the outer side of the knee joint are used to simulate the lateral collateral ligament, the two cross-control elements from the back to the front are also used to simulate the anterior cruciate ligament, and the two cross-control elements from the front to the back are also used to simulate the posterior cruciate ligament.

[0037] In one embodiment, the multi-DOF bionic orthosis mechanism 100 further includes a compound motion ring. As a specific example, see Figure 2The compound motion ring may include a proximal compound motion ring 121 and a distal compound motion ring 122; the upper ends of the eight control elements are connected to the proximal compound motion ring 121, and the lower ends of the eight control elements are connected to the distal compound motion ring 122. The connection between the control element and the compound motion ring includes but is not limited to a connection in the form of a ball hinge.

[0038] In one embodiment, the proximal compound motion ring 121 is placed on the user's thigh and the distal compound motion ring 122 is placed on the user's calf. Figure 2 As shown, the multi-degree-of-freedom bionic orthosis covers the entire knee joint. The radius, distance from the center line and eccentricity of the proximal compound motion ring and the distal compound motion ring may be different.

[0039] In addition, the multi-degree-of-freedom bionic orthotic mechanism may further include a temperature regulating device, which may be used to regulate the temperature of the multi-degree-of-freedom bionic orthotic mechanism to achieve a heating therapy function.

[0040] In one embodiment, the calf wrapping device 400 is used for load bearing and suspension, referring to Figure 3 As shown, the calf and calf wrapping device 400 includes an elastic covering belt 132 and a compression plate 131; wherein, the elastic covering belt 132 spans over all structures of the knee joint, opens to the edge above the patella, and the opening of the elastic covering belt is tightened in a lace-up manner; the compression plate 131 is located in the soft tissue area above the medial and lateral condyles of the femur, the popliteal fossa area, and the bone plane area on the side of the tibial spine; one side of the compression plate 131 is connected to the elastic covering belt 132, and the other side of the compression plate 131 is connected to the knee-leg connector; one side of the knee-leg connector is connected to the calf and calf wrapping device, and the other side of the knee-leg connector is connected to the compound motion ring.

[0041] Figure 4 The figure shows a schematic diagram of the structure of a multi-view, multi-degree-of-freedom bionic intelligent orthosis system, in which: Figure 4 Part A is the cross section of the femur; Figure 4 The B part is the tibia cross section. As a specific example, the four cross control elements imitating the collateral ligaments and the anterior and posterior cruciate ligaments include a first cross control element 111-1, a second cross control element 111-2, a third cross control element 112-3 and a fourth cross control element 112-4. The two simulated knee flexor control elements include a simulated knee flexor control element 113-5 and a simulated knee flexor control element 113-7; the two simulated knee extensor control elements include a simulated knee extensor control element 114-6 and a simulated knee extensor control element 114-8.

[0042] Among them, the two cross control elements 111-1 and 111-2 on the inner side of the knee joint are used to simulate the medial collateral ligament, the two cross control elements 112-3 and 112-4 on the outer side of the knee joint are used to simulate the lateral collateral ligament, the two cross control elements 111-2 and 112-4 from the back to the front are used to simulate the anterior cruciate ligament, and the two cross control elements 111-1 and 112-3 from the front to the back are used to simulate the posterior cruciate ligament.

[0043] In a specific example, the degrees of freedom of the femoral joint include: knee flexion or extension, knee adduction or abduction, knee internal rotation or external rotation, inward or outward movement, forward or backward movement, proximal displacement or distal displacement. The main correspondence between the degrees of freedom of the femoral tibia joint based on the anatomy of knee joint movement and the control elements of the multi-degree-of-freedom bionic intelligent orthosis system is as follows:

[0044] The control elements involved in degree of freedom 1 (knee flexion or knee extension) include: a simulated knee flexor control element 113-5, a simulated knee flexor control element 113-7, a simulated knee extensor control element 114-6 and a simulated knee extensor control element 114-8;

[0045] The control elements involved in degree of freedom 2 (knee adduction or knee abduction) include: a first cross control element 111-1, a second cross control element 111-2, a simulated knee flexor control element 113-5, a simulated knee extensor control element 114-6, a third cross control element 112-3, a fourth cross control element 112-4, a simulated knee flexor control element 113-7 and a simulated knee extensor control element 114-8;

[0046] Degree of freedom 3 (knee internal rotation or knee external rotation): the first cross control element 111 - 1 , the second cross control element 111 - 2 , or the third cross control element 112 - 3 , the fourth cross control element 112 - 4 ;

[0047] Degree of freedom 4 (inward or outward movement): a first cross control element 111 - 1 , a second cross control element 111 - 2 , a third cross control element 112 - 3 , and a fourth cross control element 112 - 4 ;

[0048] Degree of freedom 5 (forward or backward movement): a first cross control element 111 - 1 , a third cross control element 112 - 3 , a second cross control element 111 - 2 , and a fourth cross control element 112 - 4 ;

[0049] Degree of freedom 6 (proximal displacement or distal displacement): simulated knee flexor control element 113-5, simulated knee extensor control element 114-6, simulated knee flexor control element 113-7, simulated knee extensor control element 114-8.

[0050] The knee-leg connector 500 is used to firmly connect the multi-degree-of-freedom bionic orthosis mechanism 100 with the upper and lower leg wrapping device 400. Figure 4 The knee-leg connector includes a buckle structure 141 and a track 142. One end of the knee-leg connector is connected to the compression plate of the calf and calf wrapping device, and the other end is connected to the multi-degree-of-freedom bionic orthotic mechanism to achieve the purpose of reducing the range of motion between the two when worn and being able to be taken off and untied, that is, to ensure a firm connection when worn.

[0051] The above structure involved in the multi-degree-of-freedom bionic intelligent orthosis system provided in the embodiment of the present application can be worn on the user's legs, combined with Figure 1 The wearing method includes but is not limited to: first, wear the calf wrapping device 400 to the correct position of the knee joint, then adjust the front knee strap to a suitable tightness, and finally fix the multi-degree-of-freedom bionic orthosis mechanism to the calf wrapping device through the knee-leg connector to complete the wearing. After the user wears the calf wrapping device and the multi-degree-of-freedom bionic orthosis mechanism that are personalized according to their size, the intelligent adjustment control data platform sends a control signal according to the real-time position information.

[0052] A multi-degree-of-freedom bionic intelligent orthosis system provided in an embodiment of the present application also includes an intelligent adjustment control data platform, which is used to receive and process information sent by the acquisition module and the position sensor, and generate a control signal to send to the correction auxiliary power device.

[0053] The intelligent adjustment and control data platform includes a human joint orthopedic database and correction strategies; the carrier medium of the intelligent adjustment and control data platform includes a computer, a mobile phone, a tablet, and a display panel; the control method of the intelligent adjustment and control data platform includes a personalized setting function.

[0054] The multi-degree-of-freedom bionic intelligent orthosis system provided in this embodiment includes: an information acquisition module, a multi-degree-of-freedom bionic orthosis mechanism, a calf wrapping device, a knee-leg connector, and an intelligent adjustment control data platform; the information acquisition module is used to collect human kinematics and joint injury information; the multi-degree-of-freedom bionic orthosis mechanism includes: a cross control element that imitates the collateral ligament and the anterior and posterior cruciate ligament, a knee flexor control element, a knee extensor control element, a compound motion ring, a position sensor, and a correction auxiliary power device; the calf wrapping device is used for load bearing and suspension; the intelligent adjustment control data platform is used to receive and process the information sent by the acquisition module and the position sensor, and generate a control signal to send to the correction auxiliary power device. Through the above system, the joints can be guided to perform damage-free and painless movements under normal force and stability, thereby promoting joint repair to achieve the correction goal.

[0055] The embodiment of the present invention also provides a multi-degree-of-freedom bionic intelligent correction method, see Figure 5A flow chart of a multi-degree-of-freedom bionic intelligent orthosis method is shown, which is mainly applied to a multi-degree-of-freedom bionic intelligent orthosis system of any of the above-mentioned embodiments. The intelligent adjustment and control data platform in the system can use electronic devices as carriers, and the electronic devices serving as carrier media include but are not limited to computers, mobile phones, tablets, display panels, etc.

[0056] The above multi-degree-of-freedom bionic intelligent correction method mainly includes the following steps S510 to S530:

[0057] S510: The position sensor of the multi-degree-of-freedom bionic orthosis mechanism collects the real-time position information of the human knee joint and sends it to the intelligent adjustment and control data platform;

[0058] S520: the intelligent adjustment control data platform processes the information collected by the information collection module to determine the initial position and correction target of the multi-degree-of-freedom bionic orthotic mechanism;

[0059] S530: The intelligent adjustment control data platform sends the correction target to the multi-degree-of-freedom bionic orthotic mechanism, so that the multi-degree-of-freedom bionic intelligent orthotic system can achieve the correction target.

[0060] Among them, the calf and calf wrapping devices are worn to the designated position of the knee joint; the front knee straps of the calf and calf wrapping devices are used to adjust the tightness; the knee-leg connecting parts are used to fix the multi-degree-of-freedom bionic orthotic mechanism on the calf and calf wrapping devices.

[0061] In one embodiment, the method also includes: first, the intelligent adjustment control data platform establishes an orthopedic database based on the information collected by the information collection module and the pre-stored parameters; then, the intelligent adjustment control data platform analyzes the external support conditions required for the knee joint to restore normal motion function based on the orthopedic database, and determines the correction goal, which includes functional rehabilitation indicators and parameters of the knee joint.

[0062] Among them, the pre-stored parameters may include: healthy human anatomy, movement time and space parameters, and patient disease history, imaging, laboratory test diagnostic parameters, etc. The intelligent adjustment control data platform can analyze the joints to restore normal and painless movement function based on the data in the above database, thereby promoting the external support conditions required for rehabilitation, and summarizing and formulating various functional indicators and parameters. For example, regulating skin temperature, reducing possible adhesions of tendons and ligaments, reducing mechanical stimulation of soft tissues caused by abnormal tension, pressure or torsion, stimulating the synovium of the joints, increasing synovial fluid, improving the lubricity and nutrition of the joints, stimulating the synthesis of chondrocytes and the pumping in or out of synovial fluid, and other functions.

[0063] The intelligent adjustment control data platform establishes an orthopedic database based on the above data, which mainly includes the position information of the multi-degree-of-freedom bionic orthopedic structure and the adjustment mechanism of the driving and traction relationship. Based on the existing treatment experience and a certain number of accumulated cases, supervised learning is used to iterate and optimize the knee joint correction movement function of the knee orthosis. For the data in the orthopedic database, the joint function rehabilitation indicators are separated and extracted through unsupervised learning algorithms to optimize the orthopedic effect.

[0064] In the description of the present invention, it should be noted that the terms "center", "vertical", "horizontal", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invention product is usually placed when in use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0065] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of 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.

[0066] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the aforementioned embodiments, those of ordinary skill in the art should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the aforementioned embodiments within the technical scope disclosed by the present invention, or can easily conceive of changes, or make equivalent replacements for some of the technical features therein. Such modifications, changes or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom bionic intelligent orthosis system, characterized in that: include: Information collection module, multi-degree-of-freedom bionic orthosis mechanism, calf and leg wrapping device, knee-leg connector and intelligent adjustment and control data platform; The information acquisition module is used to collect human kinematics and joint injury information; The multi-degree-of-freedom bionic orthosis mechanism comprises: a cross control element imitating collateral ligaments and anterior and posterior cruciate ligaments, a knee flexor control element imitating knee extensor control element and a compound motion ring; the multi-degree-of-freedom bionic orthosis mechanism also comprises a position sensor and a correction auxiliary power device; the position sensor is used to collect relative position information of the femur and the tibia; The calf wrapping device is used for bearing weight and suspension; the knee-leg connecting piece is used to firmly connect the multi-degree-of-freedom bionic orthosis mechanism with the calf wrapping device; the intelligent adjustment control data platform is used to receive and process the information sent by the acquisition module and the position sensor, and generate a control signal to send to the correction auxiliary power device; The multi-degree-of-freedom bionic orthosis mechanism comprises four cross control elements imitating collateral ligaments and anterior and posterior cruciate ligaments; each cross control element comprises the position sensor and the correction auxiliary power device; the cross control element is used to provide the correction auxiliary power for traction and limiting; The four cross control elements are respectively located from the front upper to the rear lower side of the inner side of the knee joint, from the rear upper to the front lower side of the inner side of the knee joint, from the front upper to the rear lower side of the outer side of the knee joint, and from the rear upper to the front lower side of the outer side of the knee joint; Among them, the two cross control elements on the inner side of the knee joint are used to simulate the medial collateral ligament, the two cross control elements on the outer side of the knee joint are used to simulate the lateral collateral ligament, the two cross control elements from the upper back to the lower front are also used to simulate the anterior cruciate ligament, and the two cross control elements from the upper front to the lower back are also used to simulate the posterior cruciate ligament.

2. The multi-degree-of-freedom bionic intelligent orthosis system according to claim 1, characterized in that: The human kinematics and joint injury information includes: relative spatiotemporal information of the femur and tibia of healthy people and patients during exercise, human body size information and disease diagnosis information; the relative spatiotemporal information of the femur and tibia includes the following six degrees of freedom: knee flexion or extension, knee adduction or knee abduction, knee internal rotation or knee external rotation, inward movement or outward movement, forward movement or backward movement, proximal displacement or distal displacement.

3. The multi-degree-of-freedom bionic intelligent orthosis system according to claim 1, characterized in that: The multi-degree-of-freedom bionic orthosis mechanism comprises two control elements for simulating knee flexors and two control elements for simulating knee extensors; each control element comprises the position sensor and the correction auxiliary power device, and the control element is used to provide correction auxiliary power for telescopic drive; The two simulated knee flexor control elements are located at the rear side of the knee joint, and the two simulated knee extensor control elements are located at the front side of the knee joint.

4. The multi-degree-of-freedom bionic intelligent orthosis system according to claim 3, characterized in that: The compound motion ring includes a proximal compound motion ring and a distal compound motion ring; the upper ends of the eight control elements are connected to the proximal compound motion ring, and the lower ends of the eight control elements are connected to the distal compound motion ring, and the control elements are connected to the compound motion ring in the form of a ball hinge.

5. The multi-degree-of-freedom bionic intelligent orthosis system according to claim 1, characterized in that: The calf and calf wrapping device comprises an elastic covering belt and a compression plate; The elastic covering band spans all structures of the knee joint, opens above the patella to the edge, and is tightened in a lacing manner; the compression plate is located in the soft tissue area above the medial and lateral condyles of the femur, the popliteal fossa area, and the bone plane area on the side of the tibial spine; One side of the compression plate is connected to the elastic cover belt, and the other side of the compression plate is connected to the knee-leg connector; One side of the knee-leg connecting piece is connected to the calf and calf wrapping device, and the other side of the knee-leg connecting piece is connected to the compound motion ring.

6. The multi-degree-of-freedom bionic intelligent orthosis system according to claim 1, characterized in that: The intelligent adjustment and control data platform includes a human joint orthopedic database and correction strategies; The carrier medium of the intelligent adjustment control data platform includes a computer, a mobile phone, a tablet, and a display panel; The control method of the intelligent regulation control data platform includes a personalized setting function.

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