A prosthesis and control method thereof

Abstract

The present invention provides a prosthesis and a control method thereof. A knee angle monitoring component is arranged on a knee crank structure and a plurality of sensors are arranged on a main control component to collect and identify movement posture and movement position data of the calf and thigh. The knee angle monitoring component realizes small-stroke linear movement of the magnetic steel through ingenious design, ensuring that the angle sensor can always receive magnetic field change signals, thereby quickly and accurately judging the user's gait intention. A damping adjustment structure composed of a hydraulic cylinder component, a throttle valve opening monitoring component and a driving component is arranged in coordination. The damping of the prosthesis is precisely adjusted synchronously according to the user's gait trend obtained by judging, and intelligent damping adjustment can be given according to different stages of gait under the same gait. The intelligent prosthesis of the present invention can assist patients with amputations below the thigh to complete different gait movements comfortably and flexibly, thereby solving the above-mentioned technical problems existing in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a prosthesis and a control method thereof. Background Art

[0002] With the continuous development of science and technology, various intelligent products that can bring convenience to people's lives are increasingly being used. In the medical field, for patients with amputations below the thigh, the use of intelligent prostheses can greatly improve their living standards. The most basic knee prosthesis is a mechanical prosthesis, which can only meet the patient's need to walk on the ground. The telescopic damping provided by its damper is constant, and the patient cannot freely switch between different motion states according to his own will, resulting in inflexibility and laborious use. With the development of technology, intelligent prostheses are currently on the market. Their recognition of movement mainly uses the method of receiving biological signals of the human body, such as thigh electromyography signals or brain wave signals, and estimates the user's subsequent movement intentions through the received signals, thereby actively adjusting the damping of the damper to achieve the adjustment of the prosthetic damping in different motion states.

[0003] Chinese patent CN202111158478.3 discloses a prosthesis and a control method thereof, wherein the prosthesis comprises: a cavity having a containing cavity; a knee joint assembly, rotatably connected to the cavity; a motion state detection assembly, for detecting the motion state information of the knee joint assembly; a hydraulic cylinder assembly, for providing damping for the knee joint assembly; a drive assembly, for adjusting the magnitude of the damping of the hydraulic cylinder assembly; a position sensor assembly, for detecting the position information of the drive assembly; a main control assembly, respectively electrically connected to the motion state detection assembly, the position sensor assembly, the electromyographic signal line and the drive assembly, for controlling the drive assembly to adjust the magnitude of the damping of the hydraulic cylinder assembly according to the motion state information, the electromyographic signal and the position information. The present invention adjusts the magnitude of the damping of the hydraulic cylinder assembly according to the current use state of the user, so as to adjust the state of the knee joint support of the prosthesis according to the walking state of the user, thereby facilitating the use of the user.

[0004] However, in the existing technical solutions, since the human-computer interaction technology is still immature, the program has low accuracy and slow response in recognizing human biological signals, so patients are prone to jamming, falling, etc. during use, which poses a great safety hazard. In addition, the smart prosthesis has no built-in power supply and needs to be powered by an external portable charger. The numerous external connecting cables also cause many inconveniences in use. Summary of the invention

[0005] The purpose of the present invention is to provide a prosthesis and a control method thereof in view of the deficiencies in the prior art. A knee angle monitoring component is arranged on the knee crank structure and a plurality of posture sensors are arranged on the main control component to collect and identify the movement posture and movement position data of the calf and thigh. The knee angle monitoring component realizes small-stroke linear movement of the magnetic steel through ingenious design, ensuring that the angle sensor can always receive the magnetic field change signal, thereby quickly and accurately judging the user's gait intention. A damping adjustment structure composed of a hydraulic cylinder component, a throttle valve opening monitoring component and a drive component is arranged in conjunction. The damping of the prosthesis is precisely adjusted synchronously according to the user's gait trend obtained by the judgment, and intelligent damping adjustment can be given according to different stages of the gait under the same gait. The intelligent prosthesis of the present invention can assist patients with amputations below the thigh to complete different gait movements comfortably and flexibly, solving the above-mentioned technical problems existing in the prior art.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A prosthesis comprises: a shell; further comprising: a shaft portion, which is fixedly installed in the shell; a knee crank, which is rotatably installed on the shaft portion; a knee angle monitoring component, which is connected and arranged between the shaft portion and the knee crank; and a main control component, which is installed in the shell and is arranged opposite to the knee angle monitoring component; when the knee crank rotates relative to the shaft portion, it drives the knee angle monitoring component to move synchronously and generate a changing magnetic field, and the main control component identifies the changing magnetic field and thereby obtains the motion state information of the knee crank.

[0008] Preferably, the knee angle monitoring assembly includes: a slot structure; and a magnetic steel assembly, wherein the magnetic steel assembly is limitedly clamped in the slot structure, and when the knee crank rotates, the magnetic steel assembly undergoes a small linear movement under the guiding and limiting action of the slot structure to generate a changing magnetic field.

[0009] Preferably, the main control component includes: a main control board; and a knee angle sensor, wherein the knee angle sensor is arranged close to the magnetic steel component, and identifies the changing magnetic field generated by the magnetic steel component and feeds back to the main control board.

[0010] Preferably, the knee angle monitoring assembly further comprises: a shaft clamp, the knee crank rotates relative to the shaft clamp, a transverse groove is provided on the shaft clamp along the axial direction of the shaft portion; a guide rail portion, the guide rail portion is mounted on the knee crank to rotate synchronously with the knee crank, an arc groove is provided on the guide rail portion along the rotation direction of the knee crank, the arc groove is arranged as an inclined curve structure twisted along the opening direction of the transverse groove; the transverse groove and the arc groove form the slot structure, and when the guide rail portion rotates, the magnetic steel assembly is guided by the arc groove to move in the transverse groove.

[0011] Preferably, the shaft clamp is coaxially fixedly sleeved on the shaft portion and covered by the knee crank, which limits the rotation of the knee crank to restrict the maximum straightening position that the knee crank can reach.

[0012] Preferably, a limiting portion is protrudingly provided on the shaft clamp on the front side of the prosthetic knee, and a rotation groove is provided at the lower part of the knee crank along its rotation direction, and the limiting portion is located in the rotation groove. When the knee crank is rotated to the maximum extension position, the limiting portion conflicts with the end of the rotation groove on the front side of the prosthetic knee.

[0013] Preferably, it also includes: a hydraulic cylinder assembly, which is installed in the shell and provides power or damping for the knee crank; and a drive assembly and a throttle valve opening monitoring assembly which are installed in the shell and electrically connected to the main control assembly, the throttle valve opening monitoring assembly is connected between the drive assembly and the throttle valve of the hydraulic cylinder assembly and monitors the rotation angle information of the drive assembly, and the main control assembly controls the drive assembly to adjust the damping of the hydraulic cylinder assembly according to the rotation position information of the drive assembly.

[0014] Preferably, the shell is configured as a hollow cavity.

[0015] Preferably, the throttle valve opening monitoring assembly includes: a magnetic ring connector, the magnetic ring connector includes a connecting shell and a magnetic ring embedded in the connecting shell, the connecting shell is connected between the throttle valve of the hydraulic cylinder assembly and the driving shaft of the driving assembly, when the driving shaft rotates, the magnetic ring generates a changing magnetic field; an angle sensor, the angle sensor identifies the changing magnetic field of the magnetic ring and feeds back to the main control assembly to obtain the rotation position information of the driving assembly, and the main control assembly controls the rotation of the driving assembly to adjust the opening size of the throttle valve.

[0016] Preferably, the main control component further comprises: a calf posture recognition sensor group, which recognizes the motion state of the prosthesis and feeds back to the main control board.

[0017] Preferably, the calf posture recognition sensor group includes a gyroscope and an acceleration sensor; the knee angle sensor and the calf posture recognition sensor group are welded to the main control board.

[0018] Preferably, it further comprises: a battery, wherein the shaft portion is configured as a hollow structure, the battery is installed in the shaft portion, and the battery supplies power to the hydraulic cylinder assembly, the main control assembly and the drive assembly.

[0019] The present invention also provides a prosthesis control method, comprising the following steps:

[0020] S1: When the knee crank rotates, it drives the magnetic steel assembly to move linearly to generate a changing magnetic field. The knee angle sensor recognizes the changing magnetic field and feeds back to the main control board. The calf posture recognition sensor group recognizes the motion state of the prosthesis and feeds back to the main control board.

[0021] S2: The main control component determines the user's next movement intention based on the overall movement information of the prosthesis obtained by each sensor;

[0022] S3: The main control component controls the driving component to rotate according to the determined movement intention to adjust the opening of the throttle valve;

[0023] S4: The throttle valve opening monitoring component detects the opening position of the throttle valve and feeds back to the main control board. When the required opening position is reached, the main control board controls the driving component to stop rotating and completes the damping adjustment of the hydraulic cylinder assembly.

[0024] The beneficial effects of the present invention are:

[0025] (1) The present invention arranges a knee angle monitoring component on the knee crank component and arranges a plurality of sensors on the main control component to collect and identify the movement posture and movement position data of the calf and thigh, thereby quickly and accurately judging the user's gait intention, and cooperates with the damping adjustment structure composed of a hydraulic cylinder component, a throttle valve opening monitoring component and a driving component to synchronously and accurately adjust the damping of the prosthesis according to the judged user gait trend, and can also provide intelligent damping adjustment according to different gait stages under the same gait. The intelligent prosthesis of the present invention can assist patients with amputations below the thigh to complete different gait movements comfortably and flexibly;

[0026] (2) The present invention arranges a knee angle monitoring assembly in the knee crank assembly, which includes a guide rail portion that rotates synchronously with the knee crank, a shaft clamp fixedly arranged relative to the knee crank, and a magnetic steel assembly. An arc groove is provided on the guide rail portion along the circumferential direction of the knee crank rotation, and a transverse groove is provided on the shaft clamp on the side facing the guide rail along the axial direction of the knee shaft body. The magnetic steel assembly is clamped in the arc groove and the transverse groove at the same time. As the knee crank rotates, the magnetic steel assembly moves back and forth along the transverse groove along the movement guide of the arc groove. The rotational movement of the knee crank is cleverly used to drive the magnetic steel assembly to move linearly to generate a changing magnetic field, thereby obtaining knee angle data. The magnetic steel assembly only moves linearly with a small stroke under the guide limit of the clamping groove structure, ensuring that the angle sensor can always accurately and quickly receive the changing magnetic field and judge the user's gait intention. The magnetic steel assembly is wrapped by the guide rail and the shaft clamp for movement, and has good stability and no risk of falling off or loosening. The overall structure of the present invention has high integration and good compactness.

[0027] (3) The shaft clamp in the present invention also has the function of limiting the rotation of the knee crank assembly in an unexpected state. When a large external force impacts and breaks the connection between the hydraulic cylinder assembly and the housing or the knee crank assembly, the knee crank is locked and limited by the limiting part of the shaft clamp when it rotates to the maximum straight position, thereby preventing the user from falling due to the reverse bending of the knee crank, and fully ensuring the user's safety;

[0028] (4) The present invention has a built-in rechargeable battery in the prosthesis, and the prosthesis can be used after it is mechanically connected and fixed to the thigh. No external data cable is required during use, which fully ensures the convenience of user use. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a cross-sectional view of the overall structure of the present invention;

[0031] Figure 3 It is a schematic diagram of the connection structure between the knee crank assembly and the knee angle monitoring assembly in the present invention;

[0032] Figure 4 It is a schematic diagram of the installation structure of the knee angle monitoring component in the present invention;

[0033] Figure 5 for Figure 2 Enlarged view of point A in the middle;

[0034] Figure 6 It is a structural front view of the main control component in the present invention;

[0035] Figure 7 It is a structural schematic diagram of the guide rail part in the present invention;

[0036] Figure 8 It is a schematic diagram of the installation structure of the central axis clamp and the magnetic steel assembly of the present invention;

[0037] Fig. 9 It is a structural front view of the guide rail part of the present invention;

[0038] Fig.10 It is a schematic diagram of the matching structure of the middle shaft clamp and the knee crank assembly of the present invention;

[0039] Fig.11 for Figure 5 A partial enlarged view of

[0040] Fig.12 It is a schematic diagram of the overall structure of the present invention (excluding the housing);

[0041] Fig.13 It is a schematic diagram of the connection structure between the hydraulic cylinder assembly and the drive assembly in the present invention;

[0042] Fig.14 for Figure 8 Front view of . DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0044] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0045] Embodiment 1

[0046] A prosthesis, such as Figure 1-4 As shown, it includes: a shell 3; also includes: a shaft 11, which is fixedly installed in the shell 3; a knee crank 12, which is rotatably installed on the shaft 11; a knee angle monitoring component 2, which is connected and arranged between the shaft 11 and the knee crank 12; and a main control component 5, which is installed in the shell 3 and is arranged opposite to the knee angle monitoring component 2; when the knee crank 12 rotates relative to the shaft 11, it drives the knee angle monitoring component 2 to move synchronously and generate a changing magnetic field, and the main control component 5 identifies the changing magnetic field and thereby obtains the motion state information of the knee crank 12.

[0047] In this embodiment, the shaft 11 and the knee crank 12 form a knee crank assembly 1, which is installed in the housing 3 of the prosthesis and can rotate within a certain angle range to simulate the bending and straightening movements of the human knee joint during exercise. The shaft 11 is inserted into the housing 3 and the knee crank 12 and is fixedly connected to the housing 3. Bearings 13 are installed on both sides of the knee crank 12 so that the knee crank 12 can rotate around the shaft 11.

[0048] As a preference, Figure 4 As shown, the knee angle monitoring component 2 includes: a slot structure 20; and a magnetic steel component 21, wherein the magnetic steel component 21 is limitedly clamped in the slot structure 20, and when the knee crank 12 rotates, the magnetic steel component 21 performs a small stroke linear movement under the guiding and limiting action of the slot structure 20 to generate a changing magnetic field.

[0049] As a preference, Figure 5-6 As shown, the main control component 5 includes: a main control board 51; and a knee angle sensor 52. The knee angle sensor 52 is arranged close to the magnetic steel component 21, and identifies the changing magnetic field generated by the magnetic steel component 21 and feeds back to the main control board 51.

[0050] In this embodiment, the magnetic steel assembly 21 only makes a small linear movement under the guide limit of the slot structure 20, ensuring that the magnetic steel assembly 21 can always be within the signal receiving range of the knee angle sensor 52, thereby ensuring that the knee angle sensor 52 can accurately and quickly receive the changing magnetic field.

[0051] As a preference, Figure 4 and Figure 7-8 As shown, the knee angle monitoring component 2 also includes: a shaft clamp 22, the knee crank 12 rotates relative to the shaft clamp 22, and a transverse groove 221 is opened on the shaft clamp 22 along the axial direction of the shaft portion 11; a guide rail portion 23, the guide rail portion 23 is installed on the knee crank 12 to rotate synchronously with the knee crank 12, and an arc groove 231 is opened on the guide rail portion 23 along the rotation direction of the knee crank 12, and the arc groove 231 is set to an inclined curve structure twisted along the opening direction of the transverse groove 221; the transverse groove 221 and the arc groove 231 form the slot structure 20, when the guide rail portion 23 rotates, the magnetic steel component 21 is guided by the arc groove 231 to move in the transverse groove 221.

[0052] The key point of the design of the knee angle monitoring component 2 in this embodiment is that during the flexion and extension of the knee crank 12 of the knee joint, the knee crank 12 performs a rotational movement, and the guide rail 23 fixed on the knee crank 12 rotates synchronously with the knee crank 12. By providing the above-mentioned arc groove 231 on the guide rail 23, the magnetic steel component 21 clamped thereon performs a reciprocating linear motion along the transverse groove 221 of the shaft clamp 22 along with the movement of the guide rail 23. Since the shaft clamp 22 is fixed on the shaft portion 11 and locked and the shaft portion 11 itself does not rotate, after the transverse groove 221 is provided on the shaft clamp 22, the bracket part of the magnetic steel component 21 is embedded in the arc groove 231. In the groove 231, the magnet 211 is embedded in the transverse groove 221. The arc groove 231 is opened along the circumferential direction and is an inclined curve. The rotational motion of the knee crank 12 is used to drive the magnet assembly 16 to move. The knee angle data is obtained by the magnetic field changes generated by the reciprocating linear motion of the magnet 211. The rotational motion of the knee crank 12 is used to drive the magnet assembly 21 to move linearly in a small range. The knee angle sensor 52 is set at the closest position to the magnet assembly 21 to ensure that the knee angle sensor 52 can always accurately and quickly receive the changing magnetic field of the magnet assembly 21. The structural design is ingenious.

[0053] As a preferred embodiment, combined with Figure 2 and Figure 5 As shown, the knee angle sensor 52 is arranged on the other side of the guide rail portion 23 relative to the magnetic steel assembly 21, facing the magnetic steel assembly 21. This ensures that the knee angle sensor 52 is closest to the magnetic steel assembly 21 and can well receive the magnetic field changes of the magnetic steel assembly 21, and has a strong signal receiving capability.

[0054] In addition, it is worth mentioning that the magnetic steel assembly 21 is wrapped by the arc groove 231 and the transverse groove 221 and moves without the risk of falling off or loosening. The knee angle sensor 52 is integrated on the main control board 51, and the overall structure is compact, with high movement stability and detection sensitivity.

[0055] Preferably, the magnetic steel assembly 21 is located between the shaft clamp 22 and the guide rail 23 and its two ends are respectively clamped in the transverse groove 221 and the arc groove 231; the magnetic steel assembly 21 includes: a bracket, which is clamped in the arc groove 231; and a magnetic steel 211, which is glued to the bracket by strong glue and is clamped in the transverse groove 221.

[0056] In this embodiment, the bracket of the magnetic steel assembly 21 is clamped in the arc groove 231. Due to the rotation of the knee crank 12, the magnetic steel 211 moves back and forth in the transverse groove 221 along the arc groove 231, generating a change in the magnetic field.

[0057] As a preference, Fig. 9As shown, the angle of twisting of the arc groove 231 along the opening direction of the transverse groove 221 is α, wherein 5°≤α≤10°; Fig.14 As shown, the length of the transverse groove 221 is L, wherein 1 cm≤L≤3 cm.

[0058] As a preferred implementation, α=7°, L=1.5 cm.

[0059] In this embodiment, the twisting angle of the arc groove 231 is small, the length of the required matching transverse groove 221 is short, and the displacement of the linear reciprocating movement of the magnetic steel assembly 21 is short.

[0060] As a preference, Figure 6 As shown, the main control component 5 further includes: a calf posture recognition sensor group 53 , which recognizes the movement state of the prosthesis and feeds back to the main control board 51 .

[0061] Preferably, the knee angle sensor 52 and the calf posture recognition sensor group 53 are welded to the main control board 51 .

[0062] In this embodiment, when the calf prosthesis rotates, it drives the above-mentioned sensors fixed on the main control component 5 to move. By setting the knee angle monitoring component 2 and cooperating with the knee angle sensor 52, the bending angle between the thigh and the calf can be identified. By setting the calf posture recognition sensor group 53, it is used to identify the movement state of the entire calf prosthesis in the entire three-dimensional space, so as to collect the calf movement posture data in real time, and combine with the knee angle sensor to comprehensively judge the thigh movement posture data. The collection of two movement posture data can complete the recognition of the user's gait. This recognition method can obtain the gait information of the user's entire leg more comprehensively and accurately, and is stable and reliable.

[0063] It should be noted that the knee angle sensor 52 in this embodiment is set as a magnetic field sensor, such as the KMT32B magnetic field angle sensor in the prior art, which is actually a chip. Its working principle is that when the direction of the magnetic field parallel to the chip surface (XY plane) changes, it will cause the output signal to change, and the change in the angle of the external magnetic field can be calculated. Since the angle chip position is static, the change in the angle of the magnetic field is the change in the angle of the knee joint. The magnetic steel 211 in this embodiment moves linearly in the transverse groove 221. At this time, the direction of movement of the magnetic steel 211 is parallel to the chip surface, so that the magnetic field change can be accurately identified.

[0064] The lower leg posture recognition sensor group 53 in this embodiment is an angular velocity and acceleration sensor, which is a physical sensor that integrates a gyroscope sensor and an acceleration sensor. The gyroscope can recognize the posture changes of the prosthesis in three-dimensional space (such as leaning forward, swinging backward or flipping, etc.), and the acceleration sensor is used to measure the acceleration changes during the prosthesis posture change process. The combination of the two can fully recognize the spatial motion posture of the lower leg.

[0065] As a preference, Figure 1 As shown, it also includes: a hydraulic cylinder assembly 4, which is installed in the housing 3 and provides power or damping to the knee crank 12; Figure 12-13 As shown, a driving component 6 and a throttle valve opening monitoring component 7 are installed in the housing 3 and are electrically connected to the main control component 5. The throttle valve opening monitoring component 7 is connected between the driving component 6 and the throttle valve 41 of the hydraulic cylinder component 4 and monitors the rotation angle information of the driving component 6. The angle rotated by the driving component 6 is the opening of the throttle valve 41. The main control component 5 controls the driving component 6 to adjust the damping of the hydraulic cylinder component 4 according to the rotation position information of the driving component 6.

[0066] Preferably, the shell 3 is configured as a hollow cavity, and the knee crank assembly 1, the hydraulic cylinder assembly 4 and the drive assembly 6 are installed in the hollow cavity of the shell 3 from top to bottom.

[0067] In this embodiment, the drive component 6 provides rotational torque to control the throttle valve 41 to adjust the valve opening, and the main control component 5 is used to receive data read by the knee angle monitoring component 2, the throttle valve opening monitoring component 7 and the calf posture recognition sensor group 53, and control the drive component 6 to rotate.

[0068] As a preference, Fig.13 As shown, the throttle valve opening monitoring component 7 includes: a magnetic ring connector 71, the magnetic ring connector 71 includes a connecting shell and a magnetic ring embedded in the connecting shell, the connecting shell is connected between the throttle valve 41 of the hydraulic cylinder assembly 4 and the driving shaft of the driving assembly 6, when the driving shaft rotates, the magnetic ring generates a changing magnetic field; an angle sensor 72, the angle sensor 72 identifies the changing magnetic field of the magnetic ring and feeds back to the main control component 5, so as to obtain the rotation position information of the driving component 6, and the main control component 5 controls the rotation of the driving component 6 to adjust the opening size of the throttle valve 41.

[0069] In this embodiment, the angle sensor 72 identifies the changing magnetic field of the magnetic ring 712, thereby identifying the current opening degree of the throttle valve 41 and feeding back to the main control component 5. When the throttle valve 41 reaches the preset opening degree, the main control component 5 controls the drive component 6 to stop rotating.

[0070] As a preference, Fig.12 As shown, the hydraulic cylinder assembly 4 includes: a hydraulic cylinder 42, which is rotatably mounted in the housing 3 through a cylinder lower shaft 43 at the bottom thereof, and a piston rod 421 of the hydraulic cylinder 42 is rotatably mounted on the knee crank 12 through an cylinder upper shaft 44, and when working, the linear reciprocating motion of the piston rod 421 is converted into the rotational motion of the knee crank 12; and a throttle valve 41, which adjusts the oil circuit switch of the hydraulic cylinder 42 and adjusts the flow speed of the internal hydraulic oil, thereby achieving the effect of controlling the hydraulic cylinder to have different damping.

[0071] Preferably, the driving assembly 6 is mounted on the hydraulic cylinder 42 and connected to the throttle valve 41 of the hydraulic cylinder 42 for adjusting the damping of the hydraulic cylinder assembly 4 .

[0072] The intelligent prosthesis of this embodiment can independently judge and identify the user's gait intention during use (such as slow walking, fast walking, going up and down stairs, going up and down hills, squatting and standing up, and even riding, etc.), using sensors with very mature technology currently on the market. The recognition process is fast and accurate. At the same time as the recognition is completed, precise adjustments are made simultaneously to change the damping of the prosthesis, so that the patient feels comfortable and flexible in different postures.

[0073] It is worth noting that the intelligent prosthesis of this embodiment can also provide intelligent damping adjustment according to different stages of gait under the same gait, so that users can save a lot of physical energy during use. For example, in a normal walking state, when the user lifts the prosthesis and swings it back, the damping of the damper is minimal, making the prosthesis swing back flexibly and effortlessly; at the moment the user lands, the damping of the damper is large, so that the knee joint can support the weight of the human body and prevent the user from falling. In addition, when a special movement state in which the user is at risk of falling is identified, the damping will be adjusted to completely lock the entire knee joint to help the user stand steadily.

[0074] Embodiment 2

[0075] The components of this embodiment that are the same as or corresponding to those in the above embodiment are marked with the same reference numerals as those in the above embodiment. For the sake of simplicity, only the differences from the above embodiment are described below. The differences between this embodiment and the above embodiment are:

[0076] As a preference, Figure 8 As shown, the shaft clamp 22 is coaxially fixedly sleeved on the shaft portion 11 and covered by the knee crank 12, which limits the rotation of the knee crank 12 to limit the maximum straight position that the knee crank 12 can reach, thereby preventing the knee joint from bending in the opposite direction and causing the user to fall.

[0077] As a preference, Fig.10As shown, a limiting portion 220 is protruding from the shaft clamp 22 at the front side of the prosthetic knee, and a rotation groove 120 is opened at the lower part of the knee crank 12 along its rotation direction, and the limiting portion 220 is located in the rotation groove 120. Fig.11 As shown, when the knee crank 12 rotates to the maximum straight position, the limiting portion 220 conflicts with the end 121 of the rotation slot 120 located at the front side of the prosthetic knee. Figure 2 The knee crank 12 is shown in a position close to maximum extension.

[0078] In this embodiment, the shaft clamp 22 has two functions: limiting and serving as a sliding groove for the magnetic steel assembly 21 .

[0079] Regarding the limiting function, in order to prevent the user from falling due to the recurvation of the knee joint when impacted by external force, the prosthesis in this embodiment is designed with multiple limiting functions for the knee crank 12. First, for the process of straightening the knee joint: when the piston rod 421 of the hydraulic cylinder assembly 4 is extended to the highest point, the knee crank 12 cannot continue to rotate because it is connected to the piston rod 421. This is the first limit of the straightening of the knee joint during normal use, and the shaft clamp 22 has not yet taken effect; if the external force impact is large, the connection between the hydraulic cylinder assembly 4 and the housing 3 or the knee crank 12 is broken, and the knee crank 12 will continue to rotate until the shaft clamp 22 is limited. At this time, the angle of the knee crank 12 is 4° with the horizontal plane (this angle can be adjusted by the locking position of the shaft clamp 22), avoiding the recurvation of the knee joint.

[0080] It should be noted that the shaft clamp 22 is fixed and locked on the shaft portion 11 by bolts, and the limiting portion 220 thereof is used to fix the bolts. The locking position of the limiting portion 220 can be adjusted according to the maximum straightening position of the knee crank to be designed.

[0081] Embodiment 3

[0082] The components of this embodiment that are the same as or corresponding to those in the above embodiment are marked with the same reference numerals as those in the above embodiment. For the sake of simplicity, only the differences from the above embodiment are described below. The differences between this embodiment and the above embodiment are:

[0083] As a preference, Figure 8 As shown, it also includes: a battery 81, the shaft portion 11 is set as a hollow structure, the battery 81 is installed in the shaft portion 11, and the battery 81 supplies power to the hydraulic cylinder assembly 4, the main control assembly 5 and the drive assembly 6.

[0084] In this embodiment, the battery 81 is configured as a rechargeable battery, and the prosthesis does not need an external mobile power source during use. The user does not need to worry about the instability of the prosthesis caused by various data cables dragging outside during use, and the user is comfortable to use.

[0085] As a preference, Figure 1 As shown, it also includes: a shaft cover plate 82, which is covered at both ends of the shaft portion 11 to prevent the battery 81 from loosening and water ingress.

[0086] Embodiment 4

[0087] The present invention also provides a prosthesis control method, comprising the following steps:

[0088] S1: When the knee crank 12 rotates, the magnetic steel assembly 21 is driven to move linearly to generate a changing magnetic field. The knee angle sensor 52 identifies the changing magnetic field and feeds back to the main control board 51. The calf posture recognition sensor group 53 identifies the motion state of the prosthesis and feeds back to the main control board 51.

[0089] S2: The main control component 5 determines the user's next movement intention based on the overall movement information of the prosthesis acquired by each sensor;

[0090] S3: the main control component 5 controls the driving component 6 to rotate according to the determined movement intention, so as to adjust the opening of the throttle valve 41, thereby controlling the damping of the hydraulic cylinder component 4;

[0091] S4: The throttle valve opening monitoring component 7 detects the opening position of the throttle valve 41 and feeds back to the main control board 51. When the required opening position is reached, the main control board 51 controls the driving component 6 to stop rotating, thereby completing the damping adjustment of the hydraulic cylinder component 4.

[0092] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A prosthesis comprising: case; It is characterized by further comprising: a shaft portion, the shaft portion being installed in the housing; A knee crank, the knee crank being rotatably mounted on the shaft; a knee angle monitoring assembly, the knee angle monitoring assembly being connected and disposed between the shaft and the knee crank; and A main control component, the main control component is installed in the housing and is arranged opposite to the knee angle monitoring component; When the knee crank rotates relative to the shaft, the knee angle monitoring component is driven to move synchronously and generate a changing magnetic field, and the main control component identifies the changing magnetic field and thereby obtains the motion state information of the knee crank; The knee angle monitoring component comprises: Card slot structure; and A magnetic steel component, wherein the magnetic steel component is limitedly clamped in the clamping slot structure, and when the knee crank rotates, the magnetic steel component moves linearly under the guiding and limiting action of the clamping slot structure to generate a changing magnetic field; A shaft clamp, the knee crank rotates relative to the shaft clamp, and a transverse groove is provided on the shaft clamp along the axial direction of the shaft portion; A guide rail portion, the guide rail portion rotates synchronously with the knee crank, an arc groove is opened on the guide rail portion along the rotation direction of the knee crank, and the arc groove is set to be an inclined curve structure twisted along the opening direction of the transverse groove; The transverse groove and the arc groove form the clamping groove structure, and when the guide rail part rotates, the magnetic steel assembly is guided by the arc groove to move in the transverse groove; The main control component comprises: Main control board; and A knee angle sensor is disposed close to the magnetic steel assembly, and identifies the changing magnetic field generated by the magnetic steel assembly and feeds back to the main control board.

2. A prosthesis according to claim 1, characterized in that: The shaft clamp is sleeved on the shaft portion and covered by the knee crank, and limits the rotation of the knee crank to limit the maximum straightening position that the knee crank can reach.

3. A prosthesis according to claim 2, characterized in that: A limiting portion is protrudingly provided on the shaft clamp on the front side of the prosthetic knee, and a rotation groove is provided at the front and lower parts of the knee crank along its rotation direction. The limiting portion is located in the rotation groove. When the knee crank rotates to the maximum extension position, the limiting portion conflicts with the end of the rotation groove on the front side of the prosthetic knee.

4. A prosthesis according to any one of claims 1 to 3, characterized in that: Also includes: A hydraulic cylinder assembly, which is installed in the housing and provides power or damping to the knee crank; as well as A driving component and a throttle valve opening monitoring component are installed in the shell and are electrically connected to the main control component. The throttle valve opening monitoring component is connected between the driving component and the hydraulic cylinder component and monitors the rotation angle information of the driving component. The main control component controls the driving component to adjust the damping of the hydraulic cylinder component according to the rotation position information of the driving component.

5. A prosthesis according to claim 4, characterized in that: The main control component also includes: The calf posture recognition sensor group recognizes the movement state of the prosthesis and feeds back to the main control board.

6. A prosthesis according to claim 4, characterized in that: Also includes: Battery, the shaft portion is configured as a hollow structure, the battery is installed in the shaft portion and supplies power to the hydraulic cylinder assembly, the main control assembly and the drive assembly.

7. A prosthesis control method, characterized in that: Using a prosthesis as claimed in claim 5, comprising the following steps: S1: When the knee crank rotates, it drives the magnetic steel assembly to move linearly to generate a changing magnetic field. The knee angle sensor recognizes the changing magnetic field and feeds back to the main control board. The calf posture recognition sensor group recognizes the motion state of the prosthesis and feeds back to the main control board. S2: The main control component determines the user's next movement intention based on the overall movement information of the prosthesis acquired by each sensor in step S1; S3: The main control component controls the driving component to rotate according to the determined movement intention to adjust the opening of the throttle valve; S4: The throttle valve opening monitoring component detects the opening position of the throttle valve and feeds back to the main control board. When the required opening position is reached, the main control board controls the driving component to stop rotating and completes the damping adjustment of the hydraulic cylinder assembly.

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