An adaptive knee joint injury recovery device

Abstract

The present invention relates to an adaptive knee joint injury recovery device, comprising an upper knee joint fixing device, a lower knee joint fixing device, a thigh fixing device, a calf fixing device, an upper joint rotating device, a lower joint rotating device, a thigh rotating device, a calf rotating device and a processor; the upper joint rotating device and the lower joint rotating device are connected by rotation through gears and annular grooves to achieve bending length adaptation; an upper pressure sensor and a lower pressure sensor are arranged on the inner side of the calf fixing device to achieve training intensity adaptation and a safety stop protection function.

Description

Technical Field

[0001] The invention belongs to the field of medical devices, and in particular, relates to a knee joint injury recovery device. Background Art

[0002] When the knee joint is injured, it is usually necessary to fix the joint to promote its recovery process. In the later stage of recovery, it is necessary to remove the fixation and perform recovery training. However, due to the long fixation time, the muscle and bone function declines, so this recovery training should be gradual, especially to avoid the occurrence of secondary injury.

[0003] In the prior art (e.g. CN202111175200.7), the lower limb knee joint training is usually performed by fixing the thigh and calf separately, and setting a rotating shaft (or a rotating shaft with a motor) on both sides of the knee joint for active or passive bending training. However, this method has the following problems:

[0004] (1) The prior art only performs bending of the knee joint. However, the ligaments and other soft tissues of the knee joint not only fix the bending direction of the knee joint, but also prevent the knee joint from twisting too much. Therefore, slight twisting training (rotation around the axis of the leg) will help the ligaments and other soft tissues to fully and quickly restore their functions. However, the prior art does not mention the above training. Although there are twisting training in other joint training devices, these joints are usually universal joints, so the training is not just for twisting training, but multi-angle training. However, the knee joint has its own characteristics. The bending is large but the twisting is very small, and it cannot rotate in other directions. Therefore, this device is not suitable for the knee joint and will cause injuries to the knee joint at different angles. In clinical practice, it is especially important to avoid mixing rehabilitation devices for joints with different characteristics.

[0005] (2) The bending of the leg is achieved by fixing the rotating shaft. Although this rotating structure is simple, it will cause the wearable device to translate along the limb during the rotation process. In other words, due to the bending, the distance between the wearable device and the rotation point changes, but because the wearable device cannot be extended or retracted, it can only be achieved through translation. This will cause discomfort when wearing, and in the case of rehabilitation devices, it will affect the rehabilitation effect, and even cause abrasions to the skin and muscles due to translation.

[0006] (3) Existing training devices all set the training intensity and degree of bending before training, which requires accurate adjustment by medical staff to ensure the training effect. However, in clinical practice, patients are recovering every day, and the training intensity they can adapt to is different. Medical staff cannot adjust the training parameters for patients all the time, and patients' automatic adjustment will lead to overtraining, causing the risk of injury, and adaptive training cannot be achieved.

[0007] (4) There is no method for quality control inspection of rehabilitation training devices in the prior art, and 100% safety cannot be guaranteed.

[0008] To this end, the art needs an adaptive knee injury rehabilitation training device and training system that can be specifically targeted at knee joint rehabilitation training, can automatically adjust the training degree according to the patient's condition, and can automatically change the length with bending during training, with good training effect and high safety. Summary of the invention

[0009] An adaptive knee joint injury recovery device comprises an upper knee joint fixing device, a lower knee joint fixing device, a thigh fixing device, a calf fixing device, an upper joint rotating device, a lower joint rotating device, a thigh rotating device, a calf rotating device and a processor;

[0010] The upper knee joint fixation device is worn and fixed to the upper part of the knee joint that cannot be bent, and the lower knee joint fixation device is worn and fixed to the lower part of the knee joint that cannot be bent. The two are rotatably connected through the upper joint rotation device and the lower joint rotation device, so that the bending of the knee joint is achieved through the mutual rotation of the upper joint rotation device and the lower joint rotation device.

[0011] A circular groove is provided on the upper rotating device of the joint, and a gear is provided on the lower rotating device of the joint. The groove is provided with teeth meshing with the gear. The gear can mesh and move in the groove, so that it can move from one end of the groove to the other end, thereby realizing the rotation of the lower rotating device of the joint relative to the upper rotating device of the joint;

[0012] A thigh rotating device is provided between the upper knee joint fixing device and the thigh fixing device, so that the upper knee joint fixing device and the thigh fixing device can rotate relative to each other along the thigh circumference; a calf rotating device is provided between the lower knee joint fixing device and the calf fixing device, so that the lower knee joint fixing device and the calf fixing device can rotate relative to each other along the calf circumference;

[0013] The upper wall and the lower wall of the inner side of the calf fixation device are respectively provided with an upper pressure sensor and a lower pressure sensor, which are used to sense the active force exerted by the leg during training, so that the processor adaptively drives the motor to achieve follow-up bending according to the force that the patient can exert, and promptly locks the upper joint rotation device and the lower joint rotation at a comfortable angle for the patient when the patient stops exerting force or exerts force in the reverse direction;

[0014] The processor is used to control the motors that rotate the upper joint rotating device and the lower joint rotating device, as well as the motors that rotate the thigh rotating device and the calf rotating device.

[0015] The upper joint rotating device and the lower joint rotating device are respectively fixed on the side surfaces of the upper knee joint fixing device and the lower knee joint fixing device.

[0016] The upper joint rotation device and the lower joint rotation device include two pairs, that is, the inner side of the joint and the outer side of the joint are respectively provided with a pair of rotation devices.

[0017] The groove is a 3 / 4 circular groove.

[0018] Both the thigh rotating device and the shank rotating device are gear-engaging types.

[0019] The lower rotation device of the joint is driven by a motor.

[0020] The thigh rotating device and the shank rotating device are both driven by motors.

[0021] A device for quality control inspection of a knee joint injury recovery device, the inspection device is divided into an upper unit and a lower unit, the two are connected by a universal shaft, both of which are truncated cone-shaped, and a driving motor can drive the upper unit and the lower unit to bend at a preset angle and twist at a preset angle;

[0022] The control panel is used to control the driving motor, so that when performing a bending test, the upper unit and the lower unit are driven to bend at an angle of α, and after being bent into place, the motor stops after bending in the opposite direction at an angle of α / 40 within 0.1s, and the upper unit and the lower unit are placed in a free and unlocked state; and when performing a torsion test, the upper unit and the lower unit are placed in a free and unlocked state.

[0023] The cross-sectional area of ​​the thickest end of the upper unit is 1.2 times the cross-sectional area of ​​the thinnest end, and the cross-sectional area of ​​the thickest end of the lower unit is 1.1 times the cross-sectional area of ​​the thinnest end.

[0024] The control panel prompts the inspection results.

[0025] The innovative features and technical effects of the present invention are as follows:

[0026] 1. A device that can achieve both bending and twisting training is designed to ensure comprehensive joint rehabilitation. A special groove rotation method is used instead of a rotating shaft method to avoid the joint injury recovery device pulling the thigh and calf due to the change in the length of the relative rotating shaft when bending, thereby causing injury and discomfort.

[0027] 2. The rotation process of the joint injury recovery device has been optimized, which can not only help patients to exert force, but also avoid further injuries caused by overtraining. This process can be automatically and intelligently realized according to the patient's force situation without human intervention, which is more accurate.

[0028] 3. A method for quality control inspection of the joint injury recovery device is proposed to ensure the safety of the device and avoid medical risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the structure of a joint injury recovery device.

[0030] Figure 2 It is a schematic diagram of the bending and rotation of the joint injury recovery device structure. DETAILED DESCRIPTION

[0031] 1. Structure of joint injury recovery device

[0032] It includes an upper knee joint fixing device 1-1, a lower knee joint fixing device 2-1, a thigh fixing device 1-2, a calf fixing device 2-2, an upper joint rotating device 1-4, a lower joint rotating device 2-4, a thigh rotating device 1-3, and a calf rotating device 2-3.

[0033] The upper knee joint fixation device is worn and fixed to the inflexible upper part of the knee joint, and the lower knee joint fixation device is worn and fixed to the inflexible lower part of the knee joint. The two are rotatably connected by an upper joint rotating device and a lower joint rotating device, so that after the knee joint is worn, the knee joint can be bent by the mutual rotation of the upper joint rotating device and the lower joint rotating device.

[0034] The upper joint rotating device and the lower joint rotating device are respectively fixed on the sides of the upper knee joint fixing device and the lower knee joint fixing device, and usually include two pairs, that is, a pair of rotating devices is respectively provided on the inner side and the outer side of the joint.

[0035] An upper pressure sensor and a lower pressure sensor are respectively provided on the inner upper wall and the lower wall of the calf fixing device, which are used to sense the active force exerted by the legs during training.

[0036] Grooves 1-5 are provided on the upper rotating device of the joint, and gears 2-5 are provided on the lower rotating device of the joint. Teeth meshing with the gears are provided in the grooves. The gears can mesh and move in the grooves, so that they can move from one end of the groove to the other end, thereby realizing the rotation of the lower rotating device of the joint relative to the upper rotating device of the joint.

[0037] In the prior art, the rotation of the joint wearable device can also be achieved using an axis-hole structure or a similar structure, that is, the movable device rotates around a certain axis. Although this rotation structure is simple, it will cause the wearable device to translate along the wearing limb during the rotation process. In other words, due to bending, the distance between the wearable device and the rotation point changes, but because the wearable device cannot be extended or retracted, it can only be achieved through translation. This will cause discomfort when wearing, and in rehabilitation devices, it will affect the rehabilitation effect. In particular, when a specific rotation angle is set for training, the actual rotation angle deviates from the preset angle due to the above-mentioned translation, or the limb is injured due to greater force during the translation in order to forcibly eliminate the deviation.

[0038] To this end, the present invention creatively proposes that the groove is a 3 / 4 circular groove. When the gear starts to move from point O at one end of the groove, as it moves to point A and point B, the distance between it and the starting point O is also increasing. In other words, as the bending angle between the upper and lower knee joint fixtures increases, the distance between the two also automatically increases, thereby avoiding the undesired translation between the two fixtures and the limbs, and realizing adaptive length adjustment during the bending process.

[0039] A thigh rotating device is provided between the upper fixing device of the knee joint and the thigh fixing device, so that the upper fixing device of the knee joint and the thigh fixing device can rotate relative to each other along the circumferential direction of the thigh. The rotating device is a gear meshing method to ensure that the rotation angle is precisely controllable. It can be understood that the rotating device also includes a micro motor for driving the rotating device to rotate. Through the thigh rotating device, a slight circumferential torsion between the knee joint and the thigh can be achieved.

[0040] A calf rotating device is provided between the lower knee joint fixing device and the calf fixing device, so that the lower knee joint fixing device and the calf fixing device can rotate relative to each other along the calf circumference. The rotating device is a gear meshing method to ensure that the rotation angle is accurately controllable. It is understood that the rotating device also includes a micro motor for driving the rotating device to rotate. Through the calf rotating device, a slight circumferential torsion between the knee joint and the calf can be achieved.

[0041] 2. Joint Injury Recovery Device Training Control Process

[0042] 1. Bending training

[0043] The upper joint rotating device and the lower joint rotating device rotate with each other, driving the thigh and calf to bend with each other, so that the knee joint is passively bent under the drive of the device to achieve training. Since passive training may cause damage, the rotation angle needs to be strictly limited. At the same time, the purpose of training is to restore muscle control, so it is necessary to sense the force provided by the muscles in real time to reduce the force of passive bending and let the patient provide more bending force instead.

[0044] However, since the maximum angle that patients can reach at different stages of rehabilitation is different, the device needs to be able to automatically reach the maximum angle that the patient can currently reach in order to achieve the training effect while avoiding damage caused by excessive angles. To this end, during bending training, the recovery device controls the bending angle through a motor, thereby providing the patient with appropriate bending training. After a large number of experiments, the preferred bending angle controlled by the motor is Satisfies the following formula:

[0045]

[0046] in is the angle at which the calf gradually bends from a straight state, expressed in radians, and a is an empirical parameter, preferably 0.87; is the pressure difference between the lower pressure sensor and the upper pressure sensor; In order for the patient to actively realize the starting pressure difference between the upper and lower pressure sensors of the bend, the starting pressure difference of patients of different ages and different physical conditions is usually different, so multiple gears can be set, such as =1N, 2N, etc.

[0047] At the same time, in order to avoid damage caused by increasing the angle, it is necessary to set the condition for the motor to stop. The size of and plot the change curve with time t -t curve , when detected, or , the motor stops immediately (at this time ), and the motor reverses immediately , thereby avoiding training injuries.

[0048] The above motor control method is implemented in the processor through a program.

[0049] 2. Twist training

[0050] The motor locks the calf rotating device so that it does not rotate and no longer rotates under external force; the motor drives the thigh rotating device to rotate, so that the upper part of the knee joint fixing device and the thigh fixing device rotate, thereby driving the upper part of the knee joint to twist. Since the human knee joint cannot twist greatly, the rotation range must be strictly limited.

[0051] The motor locks the thigh rotating device so that it does not rotate and no longer rotates under the action of external force; the motor drives the calf rotating device to rotate, so that the lower part of the knee joint fixing device and the calf fixing device rotate, thereby driving the lower part of the knee joint to twist. Since the human knee joint cannot twist greatly, the rotation range must be strictly limited.

[0052] The above rotation angles are usually limited to within 5°.

[0053] 3. Inspection methods of joint injury recovery devices

[0054] Since the entire joint injury recovery device has strict requirements on the patient's maximum bending and maximum torsion when in use, it is very important whether the protection mechanism of the entire device operates normally. Therefore, the present invention designs a special inspection device to regularly inspect the recovery device to ensure that it meets the quality control requirements.

[0055] The inspection device is divided into an upper unit and a lower unit, which are connected by a universal shaft. Both are truncated cone-shaped, and the thinnest side of the upper unit has the same cross-sectional area as the thickest side of the lower unit. The thickest end of the upper unit has a cross-sectional area 1.2 times that of the thinnest end, and the thickest end of the lower unit has a cross-sectional area 1.1 times that of the thinnest end. The drive motor can drive the upper unit and the lower unit to bend at a preset angle and twist at a preset angle.

[0056] During the inspection, fix the upper knee fixation device to the thinnest end of the upper unit, fix the thigh fixation device to the thickest end of the upper unit, fix the lower knee fixation device to the thickest end of the lower unit, and fix the calf fixation device to the thinnest end of the lower unit.

[0057] The control panel controls the driving motor to drive the upper unit and the lower unit to bend at an angle of α, and after bending in place, the motor stops after bending in the opposite direction at an angle of α / 40 within 0.1s, and the upper unit and the lower unit are in a free non-locked state, that is, they can be bent or bent in the opposite direction under the action of external force (reducing the bending angle is called reverse bending). At this time, check whether the joint injury recovery device is locked, and the locked bending angle is 11*α / 12. If this condition is met, it is judged that the joint injury recovery device has passed the quality control inspection, otherwise it is prompted that the joint injury recovery device has not passed the quality control inspection and cannot be used clinically.

[0058] The control panel controls the driving motor so that the upper unit and the lower unit are in a free and unlocked state. The processor of the joint injury recovery device controls the thigh rotation device and the calf rotation device to rotate by predetermined angles respectively. The control panel collects the torsion angle between the upper unit and the lower unit. If the angle is greater than 5°, the control panel reports an error, indicating that the joint injury recovery device has not passed the quality control inspection and cannot be used clinically. Of course, it can be understood that the above 5° can be adjusted, that is, different angles can be set according to the torsion needs.

[0059] The above embodiments are only descriptions of the detailed scheme of the invention and do not constitute specific limitations of the invention. The technical problems and technical effects mentioned in the embodiments are all problems that can be solved by the schemes of the embodiments of the invention, and are also the inventive points of the present invention.

Claims

1. An adaptive knee joint injury recovery device, characterized in that: It includes an upper knee joint fixing device, a lower knee joint fixing device, a thigh fixing device, a calf fixing device, an upper joint rotating device, a lower joint rotating device, a thigh rotating device, a calf rotating device and a processor; The upper knee joint fixation device is worn and fixed to the upper part of the knee joint that cannot be bent, and the lower knee joint fixation device is worn and fixed to the lower part of the knee joint that cannot be bent. The two are rotatably connected through the upper joint rotation device and the lower joint rotation device, so that the bending of the knee joint is achieved through the mutual rotation of the upper joint rotation device and the lower joint rotation device. A circular groove is provided on the upper rotating device of the joint, and a gear is provided on the lower rotating device of the joint. The groove is provided with teeth meshing with the gear. The gear can mesh and move in the groove, so that it can move from one end of the groove to the other end, thereby realizing the rotation of the lower rotating device of the joint relative to the upper rotating device of the joint; A thigh rotating device is provided between the upper knee joint fixing device and the thigh fixing device, so that the upper knee joint fixing device and the thigh fixing device can rotate relative to each other along the thigh circumference; a calf rotating device is provided between the lower knee joint fixing device and the calf fixing device, so that the lower knee joint fixing device and the calf fixing device can rotate relative to each other along the calf circumference; The upper wall and the lower wall of the inner side of the calf fixation device are respectively provided with an upper pressure sensor and a lower pressure sensor, which are used to sense the active force exerted by the leg during training, so that the processor adaptively drives the motor to achieve follow-up bending according to the force that the patient can exert, and promptly locks the upper joint rotation device and the lower joint rotation at a comfortable angle for the patient when the patient stops exerting force or exerts force in the reverse direction; The processor is used to control the motors that rotate the upper joint rotation device and the lower joint rotation device, as well as the motors that rotate the thigh rotation device and the calf rotation device; During the twisting training, the processor controls the motor to lock the calf rotating device so that it does not rotate and no longer rotates under the action of external force; the motor drives the thigh rotating device to rotate, so that the upper part of the knee joint fixing device and the thigh fixing device rotate, thereby driving the upper part of the knee joint to twist; The processor controls the motor to lock the thigh rotating device so that it does not rotate and no longer rotates under the action of external force; the motor drives the calf rotating device to rotate, so that the lower part of the knee joint fixing device and the calf fixing device rotate, thereby driving the lower part of the knee joint to twist; the above rotation angle is limited to within 5°; A groove is arranged on the rotating device at the upper part of the joint, and a gear is arranged on the rotating device at the lower part of the joint; The groove is a 3 / 4 circular groove. When the gear starts to move from point O at one end of the groove, as it moves to point A and point B, its distance from the starting point O continues to increase; that is, as the bending angle between the upper knee joint fixation device and the lower knee joint fixation device increases, the distance between the two also automatically increases, thereby avoiding unwanted translation between the two fixation devices and the limb, and realizing adaptive length adjustment during the bending process.

2. The knee joint injury recovery device according to claim 1, characterized in that: The upper joint rotating device and the lower joint rotating device are respectively fixed on the side surfaces of the upper knee joint fixing device and the lower knee joint fixing device.

3. The knee joint injury recovery device according to claim 2, characterized in that: The upper joint rotation device and the lower joint rotation device include two pairs, that is, the inner side of the joint and the outer side of the joint are respectively provided with a pair of rotation devices.

4. The knee joint injury recovery device according to claim 1, characterized in that: Both the thigh rotating device and the shank rotating device are gear-engaging types.

5. A device for quality control inspection of the knee joint injury recovery device according to any one of claims 1 to 4, characterized in that: The inspection device is divided into an upper unit and a lower unit, which are connected by a universal shaft, both of which are truncated cone-shaped. The driving motor can drive the upper unit and the lower unit to bend at a preset angle, and twist at a preset angle; The control panel is used to control the driving motor, so that when performing a bending test, the upper unit and the lower unit are driven to bend at an angle of α, and after being bent into place, the motor stops after bending in the opposite direction at an angle of α / 40 within 0.1s, and the upper unit and the lower unit are placed in a free and unlocked state; and when performing a torsion test, the upper unit and the lower unit are placed in a free and unlocked state.

6. The quality control inspection device according to claim 5, characterized in that: The cross-sectional area of ​​the thickest end of the upper unit is 1.2 times the cross-sectional area of ​​the thinnest end, and the cross-sectional area of ​​the thickest end of the lower unit is 1.1 times the cross-sectional area of ​​the thinnest end.

7. The quality control inspection device according to claim 5, characterized in that: The control panel prompts the inspection results.

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