Skin deformation signal enhancement device and controllable prosthesis

Abstract

The present invention provides a skin deformation signal enhancement device and a controllable prosthesis, which relate to the technical field of medical devices, and include: a lower slider, a shell, an upper slider and a rotating connecting rod; since the lower slider is connected to the upper slider through the rotating connecting rod, when the lower slider moves along the lower sliding path, it will drive the upper slider to move along the upper sliding path, and convert the muscle force parallel to the axis of the limb into the muscle force in the normal direction perpendicular to the skin surface, so that the muscle force is used for the deformation in the normal direction of the skin, so that the deformation degree in the normal direction of the skin is significantly increased, and the signal acquisition quality is significantly improved, which alleviates the technical problem that the new muscle force in the prior art will make the deformation tangential to the skin surface larger, while the deformation perpendicular to the skin surface is smaller, and the deformation sensor is closely attached to the skin and can only collect the deformation in the normal direction of the skin surface, so that the effective signal that can be collected is very small.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a skin deformation signal enhancement device and a controllable prosthesis. Background Art

[0002] Correct recognition of human movement intention by prosthesis is a key technology for manipulating prosthesis. At present, surface deformation signals are gradually becoming an important source of human movement intention signals. Surface deformation signals are a kind of human body signal that reflects the changes in the local skin surface morphology of the limb. At present, through surgical muscle redistribution technology, the functional target muscle-tendon stumps parallel to the axis of the limb and tangential to the skin surface in the residual limb can be freed and fixed to different areas under the skin of the limb. When the brain issues a movement command for a certain action, these functional target muscles-tendons with clear directions will contract accordingly and the distal end of the tendon will pull the skin in the area, causing the corresponding skin area to produce obvious concave deformation. The concave deformation signals of the skin areas with clear functional directions are collected by deformation sensors close to the skin. This establishes a clear correspondence between the surface deformation signals and these actions, thereby reflecting the human body's movement intention to do these actions.

[0003] However, the quality of limb deformation signals collected by deformation sensors is currently limited, which significantly affects the accurate identification of human movement intentions. This is because when the target muscle-tendon contracts, the direction of the muscle force will change from being parallel to the limb axis to a new muscle force direction that is inclined upward and is formed by the skin fixed point and the target muscle connection line. The angle between the new muscle force direction and the limb axis is very small. According to the decomposition of force, most of the new muscle force will be decomposed in the direction of the limb axis tangential to the skin surface, and only a small part will be decomposed in the normal direction perpendicular to the skin surface, resulting in a large deformation tangential to the skin surface and a small deformation perpendicular to the skin surface. The deformation sensor is tightly attached to the skin and can only collect deformation in the normal direction of the skin surface, so the effective signal that can be collected in the end is very small. Summary of the invention

[0004] The purpose of the present invention is to provide a skin deformation signal enhancement device and a controllable prosthesis to alleviate the technical problem existing in the prior art that the new muscle force will cause the deformation tangential to the skin surface to be larger and the deformation perpendicular to the skin surface to be smaller, and the deformation sensor is closely attached to the skin and can only collect the deformation in the normal direction of the skin surface, so that the effective signal that can be collected is very small.

[0005] In a first aspect, the skin deformation signal enhancement device provided by the present invention is used for an intelligent prosthesis, comprising: a lower slider, a shell, an upper slider and a rotating connecting rod;

[0006] The lower slider and the upper slider are both arranged in the housing, and a lower sliding path and an upper sliding path are provided in the housing, the direction of the lower sliding path is parallel to the limb axis, the direction of the upper sliding path is perpendicular to the skin, and the direction of the lower sliding path and the direction of the upper sliding path are perpendicular to each other, the lower slider can move along the lower sliding path, and the upper slider can move along the upper sliding path;

[0007] One end of the rotating connecting rod is connected to the lower slider, and the other end of the rotating connecting rod is connected to the upper slider, so that the lower slider is transmission-connected to the upper slider.

[0008] In an alternative embodiment,

[0009] A lower slide rail and an upper slide rail are arranged in the shell;

[0010] The lower slide rail forms the lower slide path, and the upper slide rail forms the upper slide path.

[0011] In an alternative embodiment,

[0012] An upper connecting rod hole is arranged at one end of the rotating connecting rod close to the upper sliding block, and an upper connecting hole is arranged at one end of the upper sliding block close to the rotating connecting rod. The upper connecting rod hole is connected to the upper connecting hole through a pin shaft.

[0013] In an alternative embodiment,

[0014] A lower connecting rod hole is arranged at one end of the rotating connecting rod close to the lower sliding block, and a lower connecting hole is arranged at one end of the lower sliding block close to the rotating connecting rod. The lower connecting rod hole is connected to the lower connecting hole through a pin shaft.

[0015] In an alternative embodiment,

[0016] A muscle connection hole is provided at one end of the lower sliding block away from the rotating connecting rod, and the muscle connection hole is used to fix muscles and tendons.

[0017] In an alternative embodiment,

[0018] A fixing hole is provided at one end of the upper sliding block away from the rotating connecting rod, and the fixing hole is used to fix the middle part of the skin.

[0019] In an alternative embodiment,

[0020] There are a plurality of fixing holes, and the plurality of fixing holes are symmetrically arranged on the end surface of the upper sliding block.

[0021] In an alternative embodiment,

[0022] The shell is provided with a tightening hole, and the tightening hole is used to fix the skin in a tightened state.

[0023] In an alternative embodiment,

[0024] The muscle connection hole fixes the muscle and tendon through sutures;

[0025] The fixing hole fixes the skin through sutures;

[0026] The tightening hole is used to fix the skin with sutures.

[0027] In a second aspect, the controllable prosthesis provided by the present invention includes the skin deformation signal enhancement device.

[0028] The skin deformation signal enhancement device provided by the present invention is used for intelligent prosthesis, comprising: a lower slider, a shell, an upper slider and a rotating connecting rod; since the lower slider is connected to the upper slider through the rotating connecting rod, when the lower slider moves along the lower sliding path, it will drive the upper slider to move along the upper sliding path, and convert the muscle force parallel to the limb axis into muscle force in the normal direction perpendicular to the skin surface, so that the muscle force is used for deformation in the normal direction of the skin, so that the deformation degree in the normal direction of the skin is significantly increased, and the signal acquisition quality is significantly improved, which alleviates the technical problem that the new muscle force in the prior art will make the deformation tangential to the skin surface larger and the deformation perpendicular to the skin surface smaller, and the deformation sensor is closely attached to the skin and can only collect the deformation in the normal direction of the skin surface, so that the effective signal that can be collected is very small. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] 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.

[0030] Figure 1 A schematic diagram of the internal explosion structure of a skin deformation signal enhancement device provided by an embodiment of the present invention;

[0031] Figure 2 A schematic diagram of the internal structure of a skin deformation signal enhancement device provided by an embodiment of the present invention;

[0032] Figure 3 A schematic diagram of the structure of the skin deformation signal enhancement device provided by an embodiment of the present invention, wherein the muscles are in a natural state;

[0033] Figure 4 This is a schematic diagram of the structure of the skin deformation signal enhancement device provided by an embodiment of the present invention when the muscle is in a contracted state.

[0034] Icons: 100-lower slider; 1001-muscle connecting hole; 1002-lower connecting hole; 110-shell; 1101-lower sliding rail; 1102-upper sliding rail; 1103-tightening hole; 120-upper slider; 1201-fixing hole; 1202-upper connecting hole; 130-pin shaft; 140-rotating connecting rod; 1401-upper connecting rod hole; 1402-lower connecting rod hole; 200-muscle and tendon; 300-skin; 400-suture. DETAILED DESCRIPTION

[0035] 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.

[0036] 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.

[0037] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0038] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting 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.

[0039] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0040] 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.

[0041] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0042] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the skin 300 deformation signal enhancement device provided in this embodiment is used for an intelligent prosthesis, and includes: a lower slider 100, a shell 110, an upper slider 120 and a rotating connecting rod 140; the lower slider 100 and the upper slider 120 are both arranged in the shell 110, and a lower sliding path and an upper sliding path are provided in the shell 110. The direction of the lower sliding path is parallel to the limb axis, and the direction of the upper sliding path is perpendicular to the skin 300, and the direction of the lower sliding path and the direction of the upper sliding path are perpendicular to each other. The lower slider 100 can move along the lower sliding path, and the upper slider 120 can move along the upper sliding path; one end of the rotating connecting rod 140 is connected to the lower slider 100, and the other end of the rotating connecting rod 140 is connected to the upper slider 120, so that the lower slider 100 and the upper slider 120 are transmission connected.

[0043] Specifically, the shell 110 is L-shaped, and the inner cavity of the shell 110 forms an upper sliding path and a lower sliding path. The upper slider 120 and the lower slider 100 are respectively placed in the upper sliding path and the lower sliding path. One end of the upper slider 120 is connected to the rotating connecting rod 140, and one end of the lower slider 100 is connected to the rotating connecting rod 140. The lower slider 100 is displaced by muscle force, and the movement of the lower slider 100 drives the upper slider 120 to move, so that the muscle force can be transmitted to the skin 300.

[0044] The skin 300 deformation signal enhancement device provided in this embodiment is used for intelligent prosthesis, including: a lower slider 100, a shell 110, an upper slider 120 and a rotating connecting rod 140; since the lower slider 100 is connected to the upper slider 120 by the rotating connecting rod 140, when the lower slider 100 moves along the lower sliding path, it will drive the upper slider 120 to move along the upper sliding path, and convert the muscle force parallel to the limb axis into muscle force in the normal direction perpendicular to the surface of the skin 300, so that the muscle force is used for the deformation in the normal direction of the skin 300, so that the deformation degree in the normal direction of the skin 300 is significantly increased, and the signal acquisition quality is significantly improved, which alleviates the technical problem that the new muscle force in the prior art will cause the deformation tangential to the surface of the skin 300 to be large, while the deformation perpendicular to the surface of the skin 300 is small, and the deformation sensor is closely attached to the skin 300 and can only collect the deformation in the normal direction of the surface of the skin 300, so that the effective signal that can be collected is very small.

[0045] Based on the above embodiments, in an optional implementation manner, a lower slide rail 1101 and an upper slide rail 1102 are provided in the shell 110 of the skin 300 deformation signal enhancement device provided in this embodiment; the lower slide rail 1101 forms a lower sliding path, and the upper slide rail 1102 forms an upper sliding path.

[0046] Specifically, the shell 110 has an upper slide groove and a lower slide groove, the inner wall of the upper slide groove forms an upper slide rail 1102, the inner wall of the lower slide groove forms a lower slide rail 1101, the upper slider 120 is located in the upper slide rail 1102, the lower slider 100 is located in the lower slide rail 1101, and the upper slider 120 and the lower slider 100 slide in the upper slide rail 1102 and the lower slide rail 1101 respectively.

[0047] In an optional embodiment, an upper connecting rod hole 1401 is provided at one end of the rotating connecting rod 140 close to the upper slider 120 , and an upper connecting hole 1202 is provided at one end of the upper slider 120 close to the rotating connecting rod 140 . The upper connecting rod hole 1401 is connected to the upper connecting hole 1202 via a pin shaft 130 .

[0048] Specifically, an upper connecting rod hole 1401 is set at the end of the rotating connecting rod 140, and an upper connecting hole 1202 is set at the end of the upper slider 120. The pin 130 passes through the upper connecting rod hole 1401 and the upper connecting hole 1202 to connect and fix the upper slider 120 to the rotating connecting rod 140.

[0049] In an optional embodiment, a lower connecting rod hole 1402 is provided at one end of the rotating connecting rod 140 close to the lower slider 100 , and a lower connecting hole 1002 is provided at one end of the lower slider 100 close to the rotating connecting rod 140 , and the lower connecting rod hole 1402 is connected to the lower connecting hole 1002 via a pin shaft 130 .

[0050] Specifically, a lower connecting rod hole 1402 is set at the end of the rotating connecting rod 140, and a lower connecting hole 1002 is set at the end of the lower slider 100. The pin 130 passes through the lower connecting rod hole 1402 and the lower connecting hole 1002 to connect and fix the lower slider 100 under the rotating connecting rod 140.

[0051] In an optional embodiment, a muscle connection hole 1001 is provided at one end of the lower slider 100 away from the rotating connecting rod 140 , and the muscle connection hole 1001 is used to fix the muscle and tendon 200 .

[0052] Specifically, a muscle connection hole 1001 is provided at the end of the lower slider 100 , and the muscle and tendon 200 are connected to the lower slider 100 through the muscle connection hole 1001 , so that the contraction of the muscle and tendon 200 acts on the lower slider 100 .

[0053] In an optional embodiment, a fixing hole 1201 is provided at one end of the upper slider 120 away from the rotating connecting rod 140, and the fixing hole 1201 is used to fix the middle part of the skin 300; a plurality of fixing holes 1201 are provided, and the plurality of fixing holes 1201 are symmetrically arranged on the end face of the upper slider 120.

[0054] Specifically, a plurality of fixing holes 1201 are provided at the end of the upper slider 120 , and the fixing holes 1201 fix the middle part of the skin 300 .

[0055] In an optional embodiment, the housing 110 is provided with a tightening hole 1103, and the tightening hole 1103 is used to fix the skin 300 in a tightened state.

[0056] Specifically, a plurality of tightening holes 1103 are arranged in the circumferential direction of the housing 110 , and the plurality of tightening holes 1103 are all connected to the skin 300 , so as to fix the skin 300 in a tightened state.

[0057] In an optional embodiment, the muscle connection hole 1001 fixes the muscle and tendon 200 through the suture 400; the fixing hole 1201 fixes the skin 300 through the suture 400; and the tightening hole 1103 fixes the skin 300 through the suture 400.

[0058] Specifically, the muscle connection hole 1001 and the muscle and tendon 200 , the fixing hole 1201 and the skin 300 , and the tightening hole 1103 and the skin 300 are all connected by sutures 400 .

[0059] The skin 300 deformation signal strengthening device provided in this embodiment comprises a lower slider 100 placed in the lower slide rail 1101 of the housing 110, and an upper slider 120 placed in the upper slide rail 1102 of the housing 110; the upper and lower connecting holes 1002 of the lower slider 100 and the lower connecting rod hole 1402 have the same axis, and the upper connecting hole 1202 of the upper slider 120 and the upper connecting rod hole 1401 have the same axis; the pins 130 are respectively inserted into the holes with the same axis; when the lower slider 100 is pulled out by tension, the pins 130 are pulled out along the upper connecting rod hole 1401; the pins 130 are respectively inserted into the holes with the same axis; when the lower slider 100 is pulled out by tension, the pins 130 are pulled out along the upper connecting rod hole 1402; the pins 130 are respectively inserted into the holes with the same axis; the pins 130 are inserted into the holes with the same axis; the pins 130 are respectively ... The lower slide rail 1101 drives the rotating connecting rod 140 to move and rotate through the pin shaft 130, thereby driving the rotating connecting rod 140 to drive the upper slider 120 to slide downward along the upper slide rail 1102 through another pin shaft 130; conversely, when the upper slider 120 is pulled out by the tensile force, the rotating connecting rod 140 is driven to move and rotate along the upper slide rail 1102 through the pin shaft 130, thereby driving the rotating connecting rod 140 to drive the lower slider 100 to slide inward along the lower slide rail 1101 through another pin shaft 130.

[0060] Figure 3 It is a schematic diagram of the structure of the muscle in a natural state. First, the skin 300 at the center is sutured to the fixing hole 1201 on the upper slider 120 using suture 400. Then, the skin 300 is flattened and tightened, and then sutured to the tightening hole 1103 on the end face of the shell 110 using suture 400. Due to the elastic effect of the skin 300, the upper slider 120 will be in the initial position shown in the figure. Finally, the muscle and tendon 200 are passed through the muscle connecting hole 1001 of the lower slider 100 and pulled into a naturally straight state, and then the end side is sutured with suture 400. Since the lower slider 100 is not subjected to force, the entire device will maintain the initial position shown in the figure.

[0061] Figure 4 It is a schematic diagram of the structure in the contracted state. When the muscle and tendon 200 exert force to contract, the lower slider 100 will be pulled to slide along the lower rail 1101, and the upper slider 120 will slide down along the upper rail 1102 by rotating the connecting rod 140; when the muscle and tendon 200 no longer exert force, the muscle and tendon 200 will naturally stretch to a naturally uncontracted state, and the elastic force of the skin 300 will pull the upper slider 120 back along the upper rail 1102, and the lower slider 100 will also be rotated by the connecting rod 140 to return to the entire device. Figure 3 Initial position shown.

[0062] The controllable prosthesis provided in this embodiment includes a skin 300 deformation signal enhancement device.

[0063] Since the technical effect of the controllable prosthesis provided in this embodiment is the same as the technical effect of the skin 300 deformation signal enhancement device provided in the above embodiment, it will not be repeated here.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A skin (300) deformation signal enhancement device for intelligent prosthesis, characterized in that: include: A lower slider (100), a housing (110), an upper slider (120) and a rotating connecting rod (140); The lower slider (100) and the upper slider (120) are both arranged in the housing (110), and a lower sliding path and an upper sliding path are provided in the housing (110), the direction of the lower sliding path is parallel to the limb axis, the direction of the upper sliding path is perpendicular to the skin (300), and the direction of the lower sliding path and the direction of the upper sliding path are perpendicular to each other, the lower slider (100) can move along the lower sliding path, and the upper slider (120) can move along the upper sliding path; One end of the rotating connecting rod (140) is connected to the lower slider (100), and the other end of the rotating connecting rod (140) is connected to the upper slider (120), so that the lower slider (100) is transmission-connected to the upper slider (120); A muscle connection hole (1001) is provided at one end of the lower slider (100) away from the rotating connecting rod (140), and the muscle connection hole (1001) is used to fix the muscle and tendon (200); A fixing hole (1201) is provided at one end of the upper slider (120) away from the rotating connecting rod (140), and the fixing hole (1201) is used to fix the middle part of the skin (300); The housing (110) is provided with a tightening hole (1103), and the tightening hole (1103) is used to fix the skin (300) in a tightened state.

2. The skin (300) deformation signal enhancement device according to claim 1, characterized in that: A lower slide rail (1101) and an upper slide rail (1102) are provided in the housing (110); The lower slide rail (1101) forms the lower slide path, and the upper slide rail (1102) forms the upper slide path.

3. The skin (300) deformation signal enhancement device according to claim 1, characterized in that: An upper connecting rod hole (1401) is provided at one end of the rotating connecting rod (140) close to the upper sliding block (120), and an upper connecting hole (1202) is provided at one end of the upper sliding block (120) close to the rotating connecting rod (140). The upper connecting rod hole (1401) is connected to the upper connecting hole (1202) via a pin shaft (130).

4. The skin (300) deformation signal enhancement device according to claim 3, characterized in that: A lower connecting rod hole (1402) is provided at one end of the rotating connecting rod (140) close to the lower sliding block (100), and a lower connecting hole (1002) is provided at one end of the lower sliding block (100) close to the rotating connecting rod (140). The lower connecting rod hole (1402) is connected to the lower connecting hole (1002) via a pin shaft (130).

5. The skin (300) deformation signal enhancement device according to claim 1, characterized in that: A plurality of the fixing holes (1201) are provided, and the plurality of the fixing holes (1201) are symmetrically arranged on the end surface of the upper sliding block (120).

6. The skin (300) deformation signal enhancement device according to claim 1, characterized in that: The muscle connection hole (1001) is used to fix the muscle and tendon (200) through sutures (400); The fixing hole (1201) is used to fix the skin (300) via sutures (400); The tightening hole (1103) is used to fix the skin (300) via sutures (400).

7. A controllable prosthesis, characterized in that: It comprises the skin (300) deformation signal strengthening device as described in any one of claims 1-6.

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