A multifunctional restraint device and method of restraining a hand

Abstract

The present application relates to a multifunctional restraint device and a method for restraining hands, the restraint device comprising a containing assembly for containing a patient's palm and a first holding assembly for providing a supporting force, the containing assembly and the first holding assembly being connected to each other through a plurality of connecting members, the connecting members providing balanced forces in at least three orientations of the containing assembly from the first holding assembly based on adjustment in a first direction and adjustment in a second direction to maintain the connection of the containing assembly and the first holding assembly and to accurately keep the patient's palm in the first hand position in the containing assembly. The method for restraining hands is to accurately keep different thickness and length of palms in the first hand position in the containing assembly through the control module controlling the connecting members.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a multifunctional restraint device and a method for restraining a hand. Background Technology

[0002] Hand fractures or tendon injuries can lead to a passive flexion position of the fingers, as can central nervous system injuries. Prolonged passive flexion of the affected limb can cause complications such as muscle contractures and limited finger joint movement. After severe hand trauma surgery, patients face the risk of difficulty in restoring normal joint function and even joint ankylosis. Clinically, nursing care should maintain the affected limb in a functional position, allowing the finger joints to extend and slightly flex, to prevent muscle contractures and joint dysfunction, and to prevent complications. Traditional nursing methods include placing a sponge in the patient's palm or assisting the patient in holding a gauze roll in the palm of the affected limb, allowing for slight flexion of the fingers and maintaining a functional position.

[0003] Existing technology CN106618959A discloses a finger function recovery device, including an upper shell, a bottom shell, a thumb movement mechanism, a finger movement mechanism, an elbow fixation component, a support I, a support II, a hand fixation support, and an emergency stop button. The thumb movement mechanism comprises two sets, symmetrically distributed and mounted on the bottom shell. The finger movement mechanism is fixedly mounted on the bottom shell, positioned between the two sets of thumb movement mechanisms. Support I is mounted on the upper shell. The elbow fixation component is mounted on support I. Support II is mounted on support I. The hand fixation support is fixed to support II with screws. Two emergency stop buttons are symmetrically distributed and mounted on the upper shell. This prior art uses the finger movement mechanism to fix the patient's fingers to the support, and a control module controls the movement of each finger movement mechanism to stimulate the patient's finger movement, thus assisting in the recovery of the patient's finger function.

[0004] However, in actual use, since some patients need to rest in bed, the device needs to be placed on the bed during use. Patients may frequently need to move their upper limbs due to changes in body position. Due to the large size of the device, patients are prone to spraining their hand joints when changing positions. In addition, the device restricts the patient's upper limb movement. While the patient's palm is in a functional position, the upper arm and forearm of the upper limb are also kept in a fixed position, making it difficult to flex the elbow and causing muscle spasms in the upper limb, which is not conducive to the patient's recovery.

[0005] Furthermore, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making this invention, but due to space limitations, not all details and contents were listed in detail. However, this does not mean that the present invention does not possess the features of these prior art. On the contrary, the present invention already possesses all the features of the prior art, and the applicant reserves the right to add relevant prior art to the background art. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a multifunctional restraint device, comprising at least a receiving component for accommodating a patient's hand and a first gripping component for providing support. The receiving component and the first gripping component are connected to each other via a plurality of connectors. The connectors, based on adjustments in a first direction and a second direction, cause the receiving component to provide balanced forces from at least three directions of the first gripping component to maintain the connection between the receiving component and the first gripping component, and to accurately hold the patient's hand within the receiving component in a first hand position.

[0007] The advantages of this technical solution are: (1) It can be used precisely by patients with different hand shapes: The connector can be connected in the middle of the joint according to the actual joint position of different palms located in the receiving component, and can be flexibly adjusted. According to the actual connection position and the curvature detection sensor, the curvature of the patient's fingers can be accurately detected during the actual adjustment process. For patients with different finger thickness and length, the connector can be adjusted in the first and second directions to accurately adjust to the first hand position. The adjustment and fixation accuracy is higher and it is convenient to use. (2) It can be adjusted to facilitate the use of patients with special hand shapes: The connector can move relative to the first holding component. In the case that the first holding component is too large or too small for the patient, the patient's hand shape can be adjusted and fixed in the first hand position by adjusting the relative position of each connector and the connection position of each connector to the receiving component. It has strong applicability. At the same time, it can also provide stable restraint for patients with missing fingers or missing finger joints, so that the patient's existing palm and finger joints are kept in the functional position. (3) The structure is compact and easy for patients to use in bed, adapting to changes in patient position: Since the receiving component and the first gripping component are connected to each other, and the patient's palm is located in the receiving component, when fixed in the first hand position, the patient's hand shape is in a similar ball-holding posture, so the first gripping component can be held in the curved part of the receiving component, reducing the overall volume of the restraint device, and can move with the patient's hand movements when the patient is in a supine or lateral position; in particular, the patient's upper limb can be bent, which is beneficial to the recovery of the patient's upper limb muscles.

[0008] According to a preferred embodiment, the first gripping assembly includes a groove for adjusting a connector in a first direction. A slider and a slide rail are disposed within the groove and are movably engaged with each other. The connector is connected to the slider in a manner that allows its position to be adjusted in the first direction based on the movement of the slider along the slide rail. Preferably, the first direction is the extending direction of the slide rail.

[0009] According to a preferred embodiment, the groove includes at least a first groove, a second groove, a third groove, a fourth groove, and a fifth groove that adapt to the relative positions of the thumb, index finger, middle finger, ring finger, and little finger in a first hand position.

[0010] According to a preferred embodiment, the connector includes a first portion and a second portion connected to each other. The first portion is for connection to a receiving assembly, and the second portion is for connection to a slider. The first portion and the slider are disposed at opposite ends of the second portion, and the distance between the first portion and the first gripping assembly in a second direction is changed based on the adjustment of the second portion in a second direction, such that the palm located within the receiving assembly remains in a first hand position. Preferably, the second direction is the direction of the central axis of the second portion.

[0011] According to a preferred embodiment, the receiving component includes a wrist receiving space and a palm receiving space that are connected to each other. A first mechanical joint is fixed in the wrist receiving space near the back of the hand, and a second mechanical joint is fixed in the palm receiving space near the back of the hand. The first mechanical joint and the second mechanical joint are respectively connected to a mechanical joint, and the included angle between the first mechanical joint and the second mechanical joint can be adjusted to 150° to 169° based on the movement of the mechanical joint, so as to keep the palm located in the receiving component in a first hand position.

[0012] According to a preferred embodiment, the receiving component further includes a thumb receiving space, an index finger receiving space, a middle finger receiving space, a ring finger receiving space, and a little finger receiving space, wherein sensors for detecting the bending degree of the patient's fingers are respectively provided on one side of the thumb receiving space, index finger receiving space, middle finger receiving space, ring finger receiving space, and little finger receiving space that are in contact with the palm joint.

[0013] In another aspect, the present invention provides a method for restraining a hand, comprising the following steps:

[0014] With the patient's hand inside the housing assembly, the sensor detects the degree of flexion of each joint of the patient's fingers inside the housing assembly and transmits the data to the control module;

[0015] The control module compares the curvature data detected by the sensor with the pre-stored function bit data, and sends a control signal to the connector based on the comparison result.

[0016] The connector converts the control signal into an adjustment signal that it can recognize, and makes adjustments based on the adjustment signal in a first direction and a second direction;

[0017] The control module and connectors exchange data multiple times until the patient's hand is adjusted to the first hand position.

[0018] According to a preferred embodiment, the connector transmits its adjusted state information to the control module. The control module compares the received state information of the connector with the bending data of the patient's hand joint detected by the sensor. When the comparison results are consistent, the system is determined to be normal. When the comparison results are inconsistent, an error judgment program is triggered to determine whether the functions of the connector and the sensor are normal.

[0019] According to a preferred embodiment, the error judgment procedure is as follows: based on the detection data of the visual detection module disposed on the first grip component, the hand shape at the joint where the patient's curvature data is inconsistent is calculated; the control module compares the detection data of the visual detection module with the status data of the connector and the curvature data detected by the sensor, respectively, to determine the component with functional error, and generates an error analysis report.

[0020] According to a preferred embodiment, the comparison data of the first hand position pre-stored by the control module are as follows: the forearm is in a semi-rotated position, the wrist joint is dorsiflexed at 20-30°, and the ulnar deviation is about 10°; the thumb is fully abducted palmarly and opposed to the palm, the other fingers are slightly separated, the metacarpophalangeal joints are flexed at 30-45°, the proximal interphalangeal joints are flexed at 60-80°, and the distal interphalangeal joints are flexed at 10-15°. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of a preferred embodiment of the present invention;

[0022] Figure 2 This is a simplified structural diagram of a preferred embodiment of the connector provided by the present invention;

[0023] Figure 3 This is a simplified structural diagram of another preferred embodiment of the connector provided by the present invention.

[0024] List of reference numerals

[0025] 100: First gripping component; 200: Receiving component; 300: Connector; 310: First part; 320: Second part; 311: First magnetic component; 111: Second magnetic component; 312: First pressure sensor. Detailed Implementation

[0026] The following is in conjunction with the appendix Figure 1-3Please provide a detailed explanation.

[0027] Example 1

[0028] This embodiment provides a multifunctional restraint device, including at least a receiving component 200 for accommodating a patient's hand, a first gripping component 100 for maintaining the patient's hand in a first hand position, and a second gripping component for maintaining the patient's hand in a second hand position. The first hand position is a functional position, such as... Figure 1 As shown, the first hand position resembles a "ball-holding posture." Fixing the patient's hand in this functional position helps maintain maximum hand function and prevents joint dysfunction. The second hand position is a resting position similar to a "pen-holding posture," which helps users maintain good sleep at night.

[0029] Preferably, the first grip component 100 is spherical, so that when the patient grips the first grip component 100, the hand posture is close to the functional position; preferably, the second grip component is rectangular or spiral rectangular, so that when the patient grips the second grip component, the hand posture is close to the resting position. In the resting position, the tension of the muscles and ligaments of the patient's hand is relatively balanced, and the patient's hand can remain stable.

[0030] Since maintaining a functional position is not the natural state of the hand, patients consciously engaging their muscles in this position can lead to muscle spasms or overuse injuries over time. Therefore, using a restraint device to assist in restraining the hand in this functional position can prevent excessive muscle use. Preferably, the receiving component 200 is connected to the first gripping component 100 or the second gripping component via a connector 300. When the patient's hand is in the receiving component 200, adjusting the relative positions of various parts of the receiving component 200 with the first gripping component 100 or with the second gripping component can maintain the patient's hand posture in either the first or second hand position.

[0031] According to a preferred embodiment, the receiving component 200 is a glove. The receiving component 200 includes at least four independent receiving spaces: a thumb receiving space, an index finger receiving space, a middle finger receiving space, a ring finger receiving space, and a little finger receiving space. The receiving component 200 is provided with sensors for detecting the joint flexion of each finger. A first sensor for detecting the thumb joint flexion is located on the side of the thumb receiving space that conforms to the patient's palm. A second sensor for detecting the index finger joint flexion is located on the side of the index finger receiving space that conforms to the patient's palm. A third sensor for detecting the middle finger joint flexion is located on the side of the middle finger receiving space that conforms to the patient's palm. A fourth sensor for detecting the ring finger joint flexion is located on the side of the ring finger receiving space that conforms to the patient's palm. A fifth sensor for detecting the little finger joint flexion is located on the side of the little finger receiving space that conforms to the joint of the little finger. Preferably, a first sensor, a second sensor, a third sensor, a fourth sensor, and a fifth sensor are respectively installed at the middle interphalangeal joint, proximal interphalangeal joint, and distal interphalangeal joint of each finger within the thumb, index finger, middle finger, ring finger, and little finger receiving spaces to achieve precise monitoring of the bending degree of each joint. Preferably, the first, second, third, fourth, and fifth sensors can be resistive, flexible sensors.

[0032] Preferably, a sixth sensor for detecting the separation degree of the thumb and index finger is provided on the side of the base of the thumb receiving space near the index finger and on the side of the base of the index finger receiving space near the thumb, respectively. A seventh sensor for detecting the separation degree of the middle finger and index finger is provided on the side of the base of the index finger receiving space near the middle finger and on the side of the base of the middle finger receiving space near the index finger, respectively. An eighth sensor for detecting the separation degree of the middle finger and ring finger is provided on the side of the base of the middle finger receiving space near the ring finger and on the side of the base of the ring finger receiving space near the middle finger, respectively. A ninth sensor for detecting the separation degree of the little finger and ring finger is provided on the side of the base of the ring finger receiving space near the little finger and on the side of the base of the little finger receiving space near the ring finger, respectively. The sixth, seventh, eighth, and ninth sensors can assist in detecting the separation degree between the thumbs of the hand wearing the receiving component 200, accurately determining the shape of the patient's hand. Preferably, the sixth, seventh, eighth, and ninth sensors can be inductive pad sensors or distance sensors.

[0033] Preferably, the receiving component 200 further includes a wrist receiving space and a palm receiving space. A first mechanical joint is fixed in the wrist receiving space near the back of the hand, and a second mechanical joint is fixed in the palm receiving space near the back of the hand. The first and second mechanical joints are movably connected by a mechanical joint. A motor is provided within the mechanical joint, and the angle of the mechanical joint can be adjusted by controlling the rotation of the motor. Preferably, adhesive attachments are respectively provided on the side of the first and second mechanical joints near the patient's skin, which can stably adhere the first and second mechanical joints to the patient's skin, so that the patient's wrist joint angle can be adjusted by adjusting the angle between the first and second mechanical joints. Preferably, the receiving component 200 also provides a tenth sensor at the wrist joint for detecting the degree of flexion at the wrist joint.

[0034] Based on the above settings, the receiving component 200 can detect the joint curvature of each finger and the opening and closing degree of the palm of the patient while receiving and restraining the patient's palm, and accurately adjust to the functional position for palms of different sizes and finger thicknesses and perform functional position monitoring.

[0035] like Figure 2 As shown, the connector 300 includes a first portion 310 for connection to the receiving assembly 200 and a second portion 320 for connection to the first gripping assembly 100. Preferably, the first portion 310 is detachably connected to the receiving assembly 200. Preferably, the first portion 310 is a buckle, which includes a first half-ring and a second half-ring connected by a hinge shaft, on which a torsion spring is provided. The torsion spring is configured such that, without applying an external force to the first half-ring and the second half-ring, the torsion spring releases elastic potential energy to push the ends of the first half-ring and the second half-ring away from the hinge shaft closer together, so as to connect them to the receiving assembly 200 via the first half-ring and the second half-ring. Preferably, the first portion 310 can also be an airbag ring with an adjustable inner ring diameter according to the thickness of the patient's finger. Preferably, the second portion 320 is a telescopic rod capable of adjusting its own length. For example, the second portion 320 is a hydraulic rod. Preferably, the second part 320 includes a first end and a second end, the first part 310 is connected to the first end of the second part 320, and the second end of the second part 320 opposite to the first end is connected to the first gripping component 100.

[0036] Based on medical recommendations for hand rehabilitation, patients need to consciously control their hands to maintain a grasping posture, that is, to maintain the functional position of the hand, in order to more quickly establish the patient's control over the hand. Therefore, for patients who have some control over their normal fingers, allowing them to consciously control the grasp of the first gripping component 100 and the second gripping component is more beneficial to their rehabilitation. Based on this, the second part 320 of this device is configured to have at least a locked working mode and an unlocked working mode. The locked working mode is completely mechanically controlled. The unlocked working mode is at least partially controlled by the patient. A first pressure sensor 312 is provided on the inner side of the first part 310 near the first gripping component 100. The first pressure sensor 312 is used to detect the pressure applied by the patient to the first part 310 toward the first gripping component 100, so as to detect whether the patient consciously controls their fingers to exert force on the first part 310. A first pressure sensor 312 is provided on the first part 310 of each connector 300. Several first pressure sensors 312 are connected to a control module. Based on the data transmitted from the first pressure sensors 312, the control module determines the phalanges the patient can exert force on independently and controls the second part 320 of the connector 300 connected to the phalanges the patient can exert force on to switch from a locked working mode to an unlocked working mode. If the first pressure sensor 312 in that part subsequently does not detect pressure, the control module controls the second part 320 in that part to switch back from the unlocked working mode to the locked working mode, and the patient is mechanically held in either the first hand position or the second hand position. With this setup, when the patient has some phalanges that cannot exert force independently while others can, the device can release some of the restraints on the phalanges that can be exerted independently, allowing the patient to exert force independently for rehabilitation exercises when they want to exercise; and after exercise fatigue, the patient can be mechanically held in a functional position, with flexible operating modes available. Preferably, the switching between the locked and unlocked working modes of the second part 320 can be controlled, for example, by the following method: The control module calculates the normal power provided by the second part 320 (e.g., a hydraulic rod) during mechanically controlled movement. Based on the pressure magnitude and direction detected by the first pressure sensor 312 at the corresponding position, when the pressure gradually increases within a unit time, the control module controls the hydraulic rod to provide power in the direction of the pressure, which is less than the normal power. When the pressure gradually decreases within a unit time, the control module controls the hydraulic rod to provide power away from the direction of the pressure, which is less than the normal power, so as to counteract the force applied by the patient and improve the training effect. When the pressure is removed, the control module controls the hydraulic rod to move the finger back to the first hand position with normal power.

[0037] According to a preferred embodiment, the first gripping component 100 is provided with a first groove, a second groove, a third groove, a fourth groove, and a fifth groove corresponding to the thumb receiving space, the index finger receiving space, the middle finger receiving space, the ring finger receiving space, and the little finger receiving space, respectively. Preferably, the first groove is provided with a first slide rail and a first slider disposed on the first slide rail; the second groove is provided with a second slide rail and a second slider disposed on the second slide rail; the third groove is provided with a third slide rail and a third slider disposed on the third slide rail; the fourth groove is provided with a fourth slide rail and a fourth slider disposed on the fourth slide rail; and the fifth groove is provided with a fifth slide rail and a fifth slider disposed on the fifth slide rail. Preferably, the second ends of a plurality of second portions 320 are respectively connected to the first slider, the second slider, the third slider, the fourth slider, and the fifth slider, and the relative position of the patient's hand joint located in the receiving space and the first gripping component 100 is changed by the movement of the slider in the groove. Preferably, the first slide rail and the first slider are connected by a gear engagement. Each of the first, second, third, fourth, and fifth sliders is equipped with a motor, the output of which is connected to a gear. The slide rail is configured as a rack and pinion. When the motor rotates, the electric gear engages with the rack and pinion, thereby driving the first, second, third, fourth, and fifth sliders to slide along the first, second, third, fourth, and fifth slide rails respectively to adjust the relative position of the patient's joints with the first gripping assembly 100.

[0038] Preferably, the restraint device further includes a control module, which is data-connected to the sensor, the first part 310 of the connector 300, the second part 320 of the connector 300, and the slider, respectively, to transmit detection data and control signals. The data connection can be, for example, a flexible circuit board connection. Preferably, the control module can control the first part 310 of the connector 300 to adjust its inner diameter according to the patient's finger circumference to stably fix the patient's fingers of different circumferences. Preferably, the control module controls the slider to move along the groove of the first gripping component 100, adjusting the relative position of the connector 300 and the first gripping component 100 according to the different finger bone lengths of different patients, so that the patient's hand is kept in the first hand position. Preferably, the control module controls the second part 320 of the connector 300 to lengthen or shorten, adjusting the relative position of each joint with the first gripping component 100 according to the different finger bone lengths of different patients, thereby adjusting the joint curvature to an accurate functional curvature.

[0039] According to a preferred embodiment, the first portion 310 of the connector 300 is respectively connected to the middle portions of the basal, middle, and distal vertebrae of the receiving component 200. The movement of the connector 300 drives the patient's vertebrae to move, thereby moving the joints at both ends of the vertebrae to their maximum functional positions. Based on this configuration, the restraint device can precisely adjust hands of different sizes to their corresponding functional positions, avoiding the impact of hand size differences on the accuracy of functional position fixation; and it can improve the adaptability of this restraint device.

[0040] Many existing hand restraint structures are designed for patients with intact hands, or at least complete hands. However, they do not consider how to restrain the hands of patients with partial hand loss, such as missing fingers, knuckles, or interphalangeal joints, or those who cannot voluntarily control their fingers, knuckles, or interphalangeal joints. In particular, medical hand rehabilitation programs recommend that patients voluntarily control their hands to maintain functional positions. However, for patients in these situations, the inability to control part of the hand often results in poor rehabilitation outcomes through voluntary training, and it is difficult to implement complete training on the remaining intact parts of the hand when a portion is missing. Therefore, preferably, mechanical assistance should be provided for patients with missing fingers, missing interphalangeal joints, or those who cannot voluntarily control their fingers and joints. This allows patients to maintain functional finger positions even when they cannot use certain fingers, ensuring the normal function of the remaining parts of the hand.

[0041] Based on this, and considering the need to encourage patients to grasp the ball for rehabilitation training or stress relief, a scheme is adopted that reduces mechanical assistance in the normal hand and strengthens mechanical assistance in the weak hand. Specifically, an attractive force is established between the first grip component 100 and the connector 300. This attractive force is designed to reduce the magnitude of the attraction when the patient's hand is inserted between the two attractive components, so that the force assisting the patient in maintaining their functional position (the dominant hand position) is less than the assisting force on the weak hand position (the weak hand position). Specifically, the attractive force between the connector 300 and the first grip component 100 is relatively weaker in the dominant hand position (which the patient can control) and relatively stronger in the weak hand position (which the patient cannot control).

[0042] One possible example is as follows: Figure 3As shown, each first part 310 of the connector 300 is provided with a first magnetic element 311 on the side opposite to the first gripping component 100, and a second magnetic element 111 is provided on the first gripping component 100. There is a magnetic attraction relationship between the first magnetic element 311 and the second magnetic element 111. When in use, after the patient's hand is put into the first part 310, the patient's fingers are located between the first magnetic element 311 and the second magnetic element 111. In this way, the patient's intact fingers, that is, the right hand as defined in this embodiment, will completely block the magnetic attraction path between the mechanical joint and the first gripping component 100, making the attraction relatively weak. The part of the patient with missing fingers, that is, the weak hand as defined in this embodiment, cannot completely block the magnetic attraction path between the mechanical joint and the first gripping component 100, making the attraction relatively stronger than that of the right hand. This enables the patient's right hand to hold the grip autonomously to maintain a functional position, while the weak hand is supported by a stronger auxiliary force to maintain a functional position. For this type of patient, the effect of maintaining a basic functional position is achieved while encouraging them to perform autonomous force training is also achieved. The above configuration can be applied to any connection structure where gravity and distance are inversely related. For example, it can be a specially designed connection structure configured to reduce its elastic stress after being stretched to a preset length. Preferably, the second part 320 can also be implemented by designing a special unlocking structure. For example, one end of the connection can be designed with a multi-level latch, and the unlocking of the latch is linked to the distance the connection is stretched. When the connection is stretched to a preset length, the second-level latch is unlocked, causing the connection in the first tension state to enter a second tension state, and the elastic stress in the second tension state is less than that in the first tension state. The above-described scheme enables targeted hand restraint and rehabilitation training for patients with what this paper identifies as having a dominant hand and a weak hand. Specifically, it is applicable to patients with partial finger loss, partial hand joint loss, or partial hand joint inability to control. Firstly, the scheme strengthens the auxiliary force to maintain the functional position of the weak hand, which the patient cannot control voluntarily. Ultimately, it can maintain the functional position of the hand for patients with both a dominant and weak hand, automatically adapting to the patient's dominant and weak hand positions and providing corresponding auxiliary forces to assist in training the dominant hand, which is more difficult to control, thus promoting hand rehabilitation. This scheme does not apply the same or similar forces to every part of the patient's hand to strictly "force" them to maintain a functional position, as this is actually detrimental to the patient's self-rehabilitation. Instead, based on the difference between the dominant and weak hand, the scheme applies different auxiliary forces accordingly. Furthermore, the chosen design can be without an active power supply (usually a power source) to reduce weight and size, making it convenient for patients to carry and use.

[0043] Example 2

[0044] This embodiment provides a method for restraining a hand, using a restraint device as described in Embodiment 1 to restrain the patient's hand.

[0045] A method for restraining a hand includes the following steps:

[0046] With the patient's hand inside the receiving component 200, the sensor detects the degree of flexure of each joint of the patient's fingers inside the receiving component 200 and transmits the data to the control module;

[0047] The control module compares the curvature data detected by the sensor with the preset function position data, and sends a control signal to the connector 300 according to the comparison result;

[0048] The connector 300 converts the control signal into an adjustment signal that it can recognize, and adjusts its relative position and extension length with respect to the first gripping component 100 based on the adjustment signal.

[0049] Through multiple data transmissions between the control module and the connector 300, the connector 300 adjusts the patient's hand to the first hand position.

[0050] Preferably, the functional position comparison data of the control module are as follows: the forearm is in a semi-rotated position, the wrist joint is dorsiflexed at 20-30°, and the ulnar deviation is about 10°; the thumb is fully abducted palmarly and opposed, the other fingers are slightly separated, the metacarpophalangeal joints are flexed at 30-45°, the proximal interphalangeal joints are flexed at 60-80°, and the distal interphalangeal joints are flexed at 10-15°.

[0051] Preferably, the connector 300 transmits its adjusted state information to the control module. The control module compares the received state information of the connector 300 with the bending data of the patient's hand joint detected by the sensor. When the comparison results are consistent, the system is determined to be normal. When the comparison results are inconsistent, an error judgment program is triggered to determine whether the functions of the connector 300 and the sensor are normal.

[0052] Preferably, the error judgment procedure is as follows: the hand shape at the joint where the patient's curvature data is inconsistent is calculated based on the detection data of the visual detection module set on the first grip component 100; the control module compares the detection data of the visual detection module with the status data of the connector 300 and the curvature data detected by the sensor, respectively, to determine whether the component with functional error is the sensor or the connector 300, and generates an error analysis report based on this.

[0053] Preferably, the error detection procedure can also be based on data from a pressure sensor mounted on the receiving component 200 to determine whether the patient's hand joint is in a limit position; the control module sends a signal to the connector 300 to shorten the length of the connector 300 based on the data transmitted by the pressure sensor indicating that the patient's hand joint is in a limit position. Preferably, the pressure sensor sends detection data to the control module at first intervals, the duration of which is longer than the response time of the connector 300 from receiving the control signal to executing the content of the control signal. When the control module receives the data from the pressure sensor indicating that the patient's hand joint is in a limit position for the second time, the control module sends a control signal to the other connectors 300 to control them to move closer to the connector 300 at the current pressure limit, thereby eliminating the risk of injury to the hand joint currently in a limit position by changing the shape of the patient's hand.

[0054] It should be noted that the specific embodiments described above are exemplary. Those skilled in the art can devise various solutions inspired by the disclosure of this invention, and these solutions all fall within the scope of this invention and its protection. Those skilled in the art should understand that this specification and its accompanying drawings are illustrative and do not constitute a limitation on the claims. The scope of protection of this invention is defined by the claims and their equivalents. This specification contains multiple inventive concepts; terms such as "preferredly," "according to a preferred embodiment," or "optionally" indicate that the corresponding paragraph discloses an independent concept. The applicant reserves the right to file divisional applications based on each inventive concept. Throughout the text, features introduced by "preferredly" are merely optional and should not be construed as mandatory. Therefore, the applicant reserves the right to abandon or delete relevant preferred features at any time.

Claims

1. A multifunctional restraint device, characterized in that, It includes at least a receiving component (200) for accommodating a patient's palm and a first gripping component (100) for providing support, the receiving component (200) and the first gripping component (100) being connected to each other by a plurality of connectors (300). The connector (300) drives the receiving component (200) to provide balanced forces from at least three directions of the first gripping component (100) based on adjustments in the first direction and the second direction to maintain the connection between the receiving component (200) and the first gripping component (100), and to accurately keep the patient's palm located in the receiving component (200) in the first hand position. The first gripping assembly (100) includes a groove for adjusting the connector (300) in a first direction, wherein a slider and a slide rail are provided in the groove for movable engagement with each other; The connector (300) includes a first portion (310) for connecting to the receiving assembly (200) and a second portion (320) for connecting to the slider, the connector (300) being connected to the slider in such a way that its position can be adjusted based on the movement of the slider along the slide rail in a first direction; The second part (320) is configured to have at least a locking working mode and an unlocking working mode. The locking working mode is fully controlled by the machine, and the unlocking working mode is at least partially controlled by the patient. The first part (310) has a first pressure sensor (312) on its inner side near the first gripping assembly (100). The first pressure sensor (312) is used to detect the pressure applied by the patient to the first part (310) towards the first gripping assembly (100) to detect whether the patient voluntarily controls their fingers to apply force to the first part (310). A first pressure sensor (312) is provided on the first part (310) of each connector (300). 12) Several first pressure sensors (312) are connected to the control module. The control module determines the finger joints that the patient can exert force on their own based on the feedback data from the several first pressure sensors (312), and controls the second part (320) of the connector (300) connected to the finger joints that the patient can exert force on their own to switch from the locked working mode to the unlocked working mode. If the first pressure sensor (312) of the connector (300) does not detect pressure, the control module controls the second part (320) of the connector (300) to switch from the unlocked working mode back to the locked working mode, and the patient is mechanically driven to stay in the first hand position or the second hand position.

2. The restraint device according to claim 1, characterized in that, The groove includes at least a first groove, a second groove, a third groove, a fourth groove, and a fifth groove that adapt to the relative positions of the thumb, index finger, middle finger, ring finger, and little finger in the first hand position.

3. The restraint device according to claim 1, characterized in that, The first part (310) and the slider are disposed at opposite ends of the second part (320). The first part (310) changes its relative distance with the first grip component (100) in the second direction based on the adjustment of the second part (320) in the second direction, so that the palm located in the receiving component (200) remains in the first hand position.

4. The restraint device according to claim 1, characterized in that, The receiving component (200) includes a wrist receiving space and a palm receiving space. A first mechanical joint is fixed in the wrist receiving space near the back of the hand, and a second mechanical joint is fixed in the palm receiving space near the back of the hand. The first mechanical joint and the second mechanical joint are movably connected to each other through a mechanical joint and the angle between the first mechanical joint and the second mechanical joint can be adjusted based on the movement of the mechanical joint to keep the palm located in the receiving component (200) in a first hand position.

5. The restraint device according to claim 4, characterized in that, The receiving component (200) further includes a thumb receiving space, an index finger receiving space, a middle finger receiving space, a ring finger receiving space and a little finger receiving space, and sensors for detecting the bending degree of the patient's fingers are respectively provided on the side of the thumb receiving space, index finger receiving space, middle finger receiving space, ring finger receiving space and little finger receiving space that fit against the palm.

6. The restraint device according to claim 5, characterized in that, With the patient's hand inside the receiving assembly (200), the sensor detects the degree of flexion of each joint of the patient's fingers inside the receiving assembly (200) and transmits the data to the control module; The control module compares the curvature data detected by the sensor with the pre-stored function bit data, and sends a control signal to the connector (300) based on the comparison result; The connector (300) converts the control signal into an adjustment signal that it can recognize, and makes adjustments in a first direction and a second direction based on the adjustment signal; The control module and connector (300) exchange data multiple times until the patient's hand is adjusted to the first hand position.

7. The restraint device according to claim 6, characterized in that, The connector (300) transmits its adjusted state information to the control module. The control module compares the received state information of the connector (300) with the bending data of the patient's hand joint detected by the sensor. When the comparison results are consistent, the system is determined to be normal. When the comparison results are inconsistent, an error judgment program is triggered to determine whether the functions of the connector (300) and the sensor are normal.

8. The restraint device according to claim 7, characterized in that, The error judgment procedure is as follows: based on the detection data of the visual detection module set on the first grip component (100), the patient's hand shape at the joint where the curvature data is inconsistent is calculated. The control module compares the detection data of the visual detection module with the status data of the connector (300) and the curvature data detected by the sensor, respectively, to determine the component with functional error and generate an error analysis report.

9. The restraint device according to any one of claims 6 to 8, characterized in that, The first hand position comparison data in the control module are as follows: the forearm is in a semi-rotated position, the wrist joint is dorsiflexed at 20~30°, and the ulnar deviation is about 10°; the thumb is fully abducted palmarly and opposed to the palm, the other fingers are slightly separated, the metacarpophalangeal joints are flexed at 30°~45°, the proximal interphalangeal joints are flexed at 60°~80°, and the distal interphalangeal joints are flexed at 10°~15°.

Images