A rehabilitation medical device with adjustable ankle range of motion

Abstract

This invention relates to the medical field, specifically to a rehabilitation medical device with adjustable ankle range of motion. It includes a movable disc for placing the patient's foot, a base plate beneath the disc, a central ball shaft coaxially fixed on the base plate, a ball sleeve movably fitted onto the central ball shaft on the bottom surface of the movable disc, a shell on the outer side of the movable disc, and a column on the base plate for fixing the shell. Elastic connectors are provided between the movable disc and the shell on all four sides. A swing mechanism is provided between the base plate and the shell, and the base plate also has a swing amplitude control component for controlling the swing range of the movable disc. This invention, by rotating the movable disc on the central ball shaft, allows the patient's foot to swing along with the disc. As the swing mechanism drives the movable disc, it causes the disc to swing within the range set by the swing amplitude control component, enabling the patient's ankle to undergo rehabilitation training within a suitable range and improving the rehabilitation effect of the patient's ankle.

Description

Technical Field

[0001] This invention relates to the medical field, specifically to a rehabilitation medical device with adjustable ankle range of motion. Background Technology

[0002] Ankle sprains are a very common sports injury. When the ankle or foot is twisted, sprained, or subjected to excessive force, the ligaments around the ankle joint are overstretched or torn. When the sprain is severe, ankle flexibility training is necessary during rehabilitation, allowing the ankle joint to move within a certain range. Currently, in China, ankle rehabilitation training mainly relies on doctors manually rotating the patient's ankle repeatedly in a certain direction and speed. The medical process is also mainly controlled by the doctor's experience. However, when the number of doctors is limited and there are many patients, it is not easy for all patients to receive timely rehabilitation training. In this case, the use of medical machinery can be helpful. With the continuous development of medical machinery, many researchers have used the research results of disciplines such as mechanics, electromagnetism, and robotics to design new rehabilitation training methods in combination with medical theories. Rehabilitation medical robots, as an automated rehabilitation medical device, can help patients carry out scientific and effective rehabilitation training to restore the motor function of their injured parts. At present, there are some patented achievements in ankle rehabilitation in China, but these achievements all have certain limitations, such as limited freedom of movement, insufficient ability to simulate the doctor's treatment process, unstable fixation, and insufficient wearing comfort.

[0003] The currently disclosed Chinese patent CN201510405101.1 discloses a six-degree-of-freedom wearable ankle rehabilitation medical robot, which includes an upper platform (fixed platform), a lower platform (moving platform), a base, and cylinders (pneumatic cylinders, hydraulic cylinders, or electric cylinders). The upper platform is composed of a central sleeve and an outer rigid structure fixedly connected, and is fixed to the patient's leg by wearing. The lower platform is fixedly connected to a shoe, and is fixed to the patient's foot by wearing. The six cylinders are connected to the upper and lower platforms by Hooke's joints and ball joints, respectively. The long groove at the upper end of the base is slidably connected to the slider around the upper platform, and the boss at the center of the base is connected to the bottom center of the lower platform by a ball joint. The extension and retraction of the six cylinders are controlled by a computer system through a human-machine interface. The effects that can be achieved are: the ankle can rotate in all directions, wearability (fixing the patient's leg and foot), and the lower platform height can be adjusted according to the patient's leg length.

[0004] According to the aforementioned patent, the ball joint is driven by a cylinder (pneumatic cylinder, hydraulic cylinder, or electric cylinder), which is not convenient to adjust according to the patient's ankle condition. This often results in excessive swing amplitude, which aggravates the patient's ankle injury. In addition, the excessive number of cylinders increases the cost. Therefore, there is a need for an ankle rehabilitation medical device that can be easily adjusted and has a controllable swing amplitude. Summary of the Invention

[0005] To address the problems existing in the current technology, this invention provides a rehabilitation medical device with adjustable ankle range of motion. The invention uses a rotating disc on a central ball axis to allow the patient's foot to swing along with the disc. As the swinging mechanism drives the disc, it causes the disc to swing within the range set by the amplitude control component, enabling the patient's ankle to undergo rehabilitation training within a suitable range and improving the rehabilitation effect of the patient's ankle.

[0006] To address the problems of existing technologies, this invention provides a rehabilitation medical device with adjustable ankle range of motion, including a movable disc for placing the patient's foot, a base plate below the movable disc, a central ball shaft coaxially and fixedly mounted on the base plate, the center of the bottom surface of the movable disc contacting the spherical part of the central ball shaft, a ball sleeve movably fitted onto the central ball shaft on the bottom surface of the movable disc, a shell on the outer side of the movable disc, a column on the base plate for fixing the shell, elastic connecting parts between the movable disc and the shell, a swing mechanism between the base plate and the shell for driving the movable disc to rotate around the central ball shaft, and an amplitude control component on the base plate for controlling the swing range of the movable disc.

[0007] Preferably, the swing mechanism is equipped with an airbag, which has a closed annular structure. The airbag is fitted on the top of the movable plate, and the interior of the airbag has a cavity for the foot to be inserted. The airbag is located in the shell, and the edge of the airbag is fixed to the inner wall of the shell. An air port is opened on the top of the airbag and on the periphery of the movable plate. When each air port of the airbag is inflated, the inflated area of ​​the airbag is in an expanded state, causing the movable plate to swing.

[0008] Preferably, the top of the casing is fixedly provided with an annular air tube coaxial with it, each air port of the airbag is connected to the annular air tube, a first valve is provided at the connection between the annular air tube and each air port of the airbag, a first air inlet is provided on one side of the annular air tube, and a first air outlet is provided on the other side of the annular air tube.

[0009] Preferably, the swing mechanism is provided with an airbag membrane, and a support plate coaxial with both is provided between the movable plate and the base plate. The center of the support plate has an opening for the central ball shaft to pass through. The support plate is fixedly connected to the base plate. Air tube groups are provided on the support plate corresponding to the four sides of the movable plate. The airbag membrane is fixedly sleeved on the support plate and is located between the movable plate and the support plate. Each air tube group is connected to an arc-shaped air tube. The arc-shaped air tube has a first pipe joint connected to each air tube of the air tube group, and the arc-shaped air tube also has a second pipe joint.

[0010] Preferably, a ventilation chamber is provided between the support plate and the chassis. The ventilation chamber is located between four arc-shaped air pipes. The second pipe joint of each arc-shaped air pipe is connected to the ventilation chamber. A second valve is provided at the second pipe joint of each arc-shaped air pipe. A second air inlet and a second air outlet are respectively provided on the ventilation chamber.

[0011] Preferably, the swing amplitude control component is provided with sleeves, and there are four sleeves. The four sleeves are evenly distributed around the chassis, and the axial direction of each sleeve is parallel to the axial direction of the central ball shaft. Each sleeve is inserted with a rod.

[0012] Preferably, the sleeve has multiple equally spaced pin holes that are perpendicular to the sleeve axis, and the insert rod has a positioning hole corresponding to the pin holes, and a pin is inserted between the pin holes and the positioning hole.

[0013] Preferably, the elastic connector is provided with a pull rope, and a connecting block is provided on each of the four edges of the movable disc. A hinge block is provided on each of the four edges of the housing and at the position corresponding to each connecting block. One end of the pull rope is connected to the connecting block. A rotating wheel is rotatably provided in the hinge block. The other end of the pull rope is connected to the rotating wheel. The rotating wheel and the hinge block are connected by a rotating shaft. The axis of the rotating shaft is perpendicular to the axis of the housing. One end of the rotating shaft extends outward. An end ring with a diameter larger than that between the rotating shafts is provided on the extended end of the rotating shaft. A torsion spring sleeved on the rotating shaft is fixedly connected between the end ring and the hinge block.

[0014] Preferably, the top of the active plate is fixedly provided with a footboard for the patient to step on, and the footboard is provided with a first strap for securing the foot.

[0015] Preferably, the side of the shell is fixed with a support seat for the patient's lower leg to rest against, and the support seat is provided with a second strap for fixing the lower leg.

[0016] The advantages of this application compared to the prior art are:

[0017] 1. The present invention, by setting the movable disc to rotate on the central ball axis, allows the patient's foot to swing along with the movable disc. As the swing mechanism drives the movable disc, it causes the movable disc to swing within the range set by the swing amplitude control component, thereby enabling the patient's ankle to undergo rehabilitation training within a suitable range and improving the rehabilitation effect of the patient's ankle.

[0018] 2. In the first embodiment of the swing mechanism of the present invention, by opening four air ports on the airbag, each air port corresponds to a region of the movable plate. When the air ports are inflated, the airbag expands in the inflated region and pushes the movable plate to move. Under the sequential inflation of the airbag by the four air ports, the movable plate swings back and forth and left and right on the central ball axis, thereby realizing the movement of the patient's foot driven by the movable plate and improving the rehabilitation effect of the patient's ankle.

[0019] 3. In the second embodiment of the swing mechanism of the present invention, the air bladder membrane is inflated sequentially by the four tracheal groups, causing the surrounding area of ​​the air bladder membrane to expand sequentially, pushing the movable disc to swing on the central ball axis, thereby causing the patient's foot to swing back and forth and left and right around the central ball axis, realizing the movement of the patient's foot driven by the movable disc, and improving the rehabilitation effect of the patient's ankle.

[0020] 4. This invention, by setting the insertion rod below the movable disc, allows the end of the insertion rod to contact the movable disc when it swings, thereby limiting the continued swing of the movable disc. By fixing the insertion rod at different positions in the sleeve, the end of the insertion rod can be brought closer to or further away from the movable disc, thereby adjusting the swing range of the movable disc. This achieves the limitation of the swing range of the movable disc and effectively ensures the rehabilitation of the patient's ankle. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of a rehabilitation medical device with adjustable ankle range of motion.

[0022] Figure 2 This is a partial three-dimensional structural cross-sectional view of an embodiment of a rehabilitation medical device with adjustable ankle range of motion.

[0023] Figure 3 This is a three-dimensional structural cross-sectional view of an embodiment of a rehabilitation medical device with adjustable ankle range of motion.

[0024] Figure 4 This is a cross-sectional view of one embodiment of a rehabilitation medical device with adjustable ankle range of motion.

[0025] Figure 5 yes Figure 3 Enlarged diagram of point A.

[0026] Figure 6 This is a three-dimensional structural schematic diagram of a second embodiment of a rehabilitation medical device with adjustable ankle range of motion.

[0027] Figure 7 This is a partial three-dimensional structural cross-sectional view of a second embodiment of a rehabilitation medical device with adjustable ankle range of motion.

[0028] Figure 8Cross-sectional view of embodiment two of a rehabilitation medical device with adjustable ankle range of motion. Figure 1 .

[0029] Figure 9 Cross-sectional view of embodiment two of a rehabilitation medical device with adjustable ankle range of motion. Figure 2 .

[0030] Figure 10 yes Figure 7 Enlarged diagram of point B.

[0031] The numbers on the map are:

[0032] 1-Moving disc; 11-Ball sleeve; 12-Foot plate; 121-First strap; 2-Chassis; 21-Support column; 3-Central ball axle; 4-Shell; 41-Support seat; 411-Second strap; 5-Elastic connector; 51-Pull rope; 52-Connecting block; 53-Hinge block; 531-Rotating wheel; 5311-Rotating shaft; 5312-End ring; 532-Torsion spring; 6-Swing mechanism; 61-Airbag; 611-Air inlet; 62-Annular air tube; 621-First valve Door; 622-First air inlet; 623-First air outlet; 63-Airbag membrane; 64-Support plate; 641-Air tube assembly; 642-Arc-shaped air tube; 6421-First pipe connector; 6422-Second pipe connector; 643-Ventilation chamber; 6431-Second valve; 6432-Second air inlet; 6433-Second air outlet; 7-Swing control assembly; 71-Sleeve; 711-Pin hole; 72-Insertion rod; 73-Pin; 8-Foot; 81-Lower leg. Detailed Implementation

[0033] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0034] See Figures 1-10 As shown, a rehabilitation medical device with adjustable ankle range of motion includes a movable disc 1 for placing the patient's foot 8, a base plate 2 below the movable disc 1, a central ball shaft 3 coaxially and fixedly mounted on the base plate 2, the center of the bottom surface of the movable disc 1 contacting the spherical part of the central ball shaft 3, a ball sleeve 11 movably fitted onto the central ball shaft 3 on the bottom surface of the movable disc 1, a shell 4 on the outer side of the movable disc 1, a column for fixing the shell 4 on the base plate 2, elastic connecting parts 5 between the movable disc 1 and the shell 4, a swing mechanism 6 between the base plate 2 and the shell 4 for driving the movable disc 1 to rotate around the central ball shaft 3, and an amplitude control component 7 on the base plate 2 for controlling the swing range of the movable disc 1.

[0035] When treating a patient's ankle, the patient first places their foot (8) on the movable plate (1), which is initially horizontal. Because the center of the bottom of the movable plate (1) is movably mounted on the central ball shaft (3) via a ball sleeve (11), it can rotate around the central ball shaft (3). Before the swing mechanism (6) is activated, the foot (8) is flat. When the swing mechanism (6) is activated, the movable plate (1), driven by the swing mechanism (6), moves on the central ball shaft (3), thereby moving the foot (8). The foot (8) swings back and forth and side to side without twisting, thus providing relief. The ankle rehabilitation training has a positive effect. When the movable disc 1 returns to a horizontal state after swinging and tilting, the elastic connector 5 connects the movable disc 1 and the housing 4 together, thus ensuring that the movable disc 1 achieves the reset effect. In order to avoid the ankle's range of motion being too large and aggravating the patient's ankle injury, the swing amplitude control component 7 on the base plate 2 is set to control the swing range of the movable disc 1. The swing amplitude control component 7 can adjust the limit range, so that the patient's ankle can move within a suitable range, effectively improving the rehabilitation effect of the patient's ankle.

[0036] See Figures 1-4 As shown, the swing mechanism 6 is equipped with an airbag 61, which has a closed annular structure. The airbag 61 is fitted on the top of the movable plate 1. The interior of the airbag 61 has a cavity for the foot 8 to be inserted. The airbag 61 is located in the shell 4. The edge of the airbag 61 is fixed to the inner wall of the shell 4. An air port 611 is opened on the top of the airbag 61 and on the periphery of the movable plate 1. When each air port 611 of the airbag 61 is inflated, the inflated area of ​​the airbag 61 is in an expanded state, causing the movable plate 1 to swing.

[0037] When the swing mechanism 6 is activated, air is inflated through the four air ports 611 on the airbag 61, causing the airbag 61 to expand and push the movable disc 1 to rotate on the central ball shaft 3. The four air ports 611 of the airbag 61 are not inflated simultaneously, but inflated sequentially. When one air port 611 is inflated, the other air ports 611 are closed, causing the inflated part of the airbag 61 to expand, achieving the effect of pushing the movable disc 1 from top to bottom. Under the push of the airbag 61, the movable disc 1 swings back and forth and left and right, thereby moving the patient's ankle.

[0038] See Figures 1-4 As shown, the top of the casing 4 is fixedly provided with an annular air tube 62 coaxial with it. Each air port 611 of the airbag 61 is connected to the annular air tube 62. A first valve 621 is provided at the connection between the annular air tube 62 and each air port 611 of the airbag 61. A first air inlet 622611 is provided on one side of the annular air tube 62, and a first air outlet 623611 is provided on the other side of the annular air tube 62.

[0039] When one air port 611 of the airbag 61 is inflated, the first valve 621 of that air port 611 opens, and the first valves 621 of the other air ports 611 close, causing a region of the airbag 61 to expand, thereby pushing the movable disc 1 to swing. Air is then introduced through the first air inlet 622611 of the annular air tube 62. Since each air port 611 of the airbag 61 is connected to the annular air tube 62, the opening and closing control of each air port 611 by the first valve 621 causes the region of the airbag 61 at each air port 611 to expand sequentially. Each time the air port 611 is switched, the air in the airbag 61 is discharged through the first air outlet 623611, and then the next air port 611 is inflated, thereby driving the movable disc 1 to swing.

[0040] See Figures 6-9 As shown, the swing mechanism 6 is provided with an airbag membrane 63. A support plate 64 coaxial with both is provided between the movable plate 1 and the base plate 2. The center of the support plate 64 has an opening for the central ball shaft 3 to pass through. The support plate 64 is fixedly connected to the base plate 2. Air tube groups 641 are provided on the support plate 64 corresponding to the four sides of the movable plate 1. The airbag membrane 63 is fixedly sleeved on the support plate 64. The airbag membrane 63 is located between the movable plate 1 and the support plate 64. Each air tube group 641 is connected to an arc-shaped air tube 642. The arc-shaped air tube 642 has a first pipe joint 6421 connected to each air tube of the air tube group 641. The arc-shaped air tube 642 also has a second pipe joint 6422.

[0041] When the swing mechanism 6 is activated, the four arc-shaped air tubes 642 are inflated sequentially through the second pipe joint 6422. The gas passes through the air tube group 641 connected to the first pipe joint 6421 of the arc-shaped air tubes 642, thus acting on the airbag membrane 63. Since the airbag membrane 63 is fitted on the support plate 64 and forms a sealed space, the inflation of the air tube group 641 causes the airbag membrane 63 to expand at the inflation point of the air tube group 641, causing the movable plate 1 to be pushed upward by the airbag membrane 63, thus causing the movable plate 1 to swing. According to the sequential inflation of the four air tube groups 641, the surrounding area of ​​the airbag membrane 63 expands sequentially, thereby achieving the effect of the movable plate 1 swinging back and forth and left and right in sequence.

[0042] See Figures 6-9 As shown, a ventilation chamber 643 is provided between the support plate 64 and the chassis 2. The ventilation chamber 643 is located between four arc-shaped air pipes 642. The second pipe joint 6422 of each arc-shaped air pipe 642 is connected to the ventilation chamber 643. A second valve 6431 is provided at the second pipe joint 6422 of each arc-shaped air pipe 642. The ventilation chamber 643 is provided with a second air inlet 6432611 and a second air outlet 6433611.

[0043] When the four arc-shaped tracheas 642 are inflated, air enters through the second air inlet 6432611 of the ventilation chamber 643. The gas enters through the second pipe joint 6422 of the arc-shaped trachea 642 and is controlled by the second valve 6431 on the second pipe joint 6422 to ensure that when one trachea group 641 is inflated, the other trachea groups 641 are in the closed state, effectively achieving the effect of the airbag membrane 63 pushing the movable disc 1 to swing. After one trachea group 641 is inflated and the airbag membrane 63 pushes the movable disc 1 to swing, the second air outlet 6433611 releases air, allowing the inflated area of ​​the airbag membrane 63 to return to its normal state. The next trachea group 641 is then inflated, causing the movable disc 1 to swing back and forth and left and right in sequence, thereby effectively realizing the movement of the patient's ankle.

[0044] See Figures 1-5 As shown, the swing amplitude control component 7 is provided with sleeves 71. There are four sleeves 71, which are evenly distributed around the chassis 2. The axial direction of each sleeve 71 is parallel to the axial direction of the central ball shaft 3. Each sleeve 71 is inserted with a rod 72.

[0045] When it is necessary to limit the range of motion of the patient's ankle, the insertion rod 72 is set in the sleeve 71, with the end of the insertion rod 72 located below the movable plate 1. When the movable plate 1 swings, its bottom surface will contact the end of the insertion rod 72, thereby limiting the continued swing of the movable plate 1 and ensuring that the patient's ankle moves within a suitable range.

[0046] See Figure 5 As shown, the sleeve 71 has a plurality of equally spaced pin holes 711 that are perpendicular to the axis of the sleeve 71. The insert rod 72 has a positioning hole corresponding to the pin holes 711, and a pin 73 is inserted between the pin holes 711 and the positioning hole.

[0047] When adjusting the position of the insertion rod 72 in the sleeve 71, the positioning hole on the insertion rod 72 corresponds to the pin hole 711 on the sleeve 71, and the pin 73 passes through the positioning hole and the pin hole 711, thereby fixing the insertion rod 72 in the sleeve 71. Since the sleeve 71 has multiple pin holes 711, the insertion rod 72 is fixed according to the swing range that the patient's ankle can adapt to, so that the end of the insertion rod 72 is close to or far away from the movable plate 1, limiting the swing range of the movable plate 1.

[0048] See Figures 6-10As shown, the elastic connector 5 is provided with a pull rope 51, and a connecting block 52 is provided on each of the four edges of the movable disc 1. A hinge block 53 is provided on each of the four edges of the housing 4 and at the position corresponding to each connecting block 52. One end of the pull rope 51 is connected to the connecting block 52. A rotating wheel 531 is rotatably provided in the hinge block 53. The other end of the pull rope 51 is connected to the rotating wheel 531. The rotating wheel 531 and the hinge block 53 are connected by a rotating shaft 5311. The axis of the rotating shaft 5311 is perpendicular to the axis of the housing 4. One end of the rotating shaft 5311 extends outward. An end ring 5312 with a diameter larger than that between the rotating shafts 5311 is provided on the extended end of the rotating shaft 5311. A torsion spring 532 sleeved on the rotating shaft 5311 is fixedly connected between the end ring 5312 and the hinge block 53.

[0049] When the movable disc 1 is not moving, it is in a horizontal state. When the movable disc 1 moves, it tilts due to swinging. In order for the movable disc 1 to return to a horizontal state after swinging, the connecting block 52 on the movable disc 1 and the rotating wheel 531 on the hinge block 53 on the housing 4 are connected together by the pull rope 51. Under the action of the torsion spring 532 connected between the rotating shaft 5311 on the rotating wheel 531 and the hinge block 53, the pull rope 51 pulls the movable disc 1 to keep it in a horizontal state. After the movable disc 1 swings and tilts, the rotating wheel 531 rotates and the torsion spring 532 twists. After the pushing force on the movable disc 1 is released, the torsion spring 532 returns to its normal state and the rotating wheel 531 rotates back to its original state. At this time, the movable disc 1 returns to a horizontal state under the pull of the four pull ropes 51, which is beneficial for the placement and movement of the foot 8.

[0050] See Figure 1 , Figure 2 , Figure 6 and Figure 7 As shown, the top of the active plate 1 is fixed with a footboard 12 for the patient's foot 8 to step on, and the footboard 12 is provided with a first strap 121 for fixing the foot 8.

[0051] After the patient's foot 8 is supported on the foot plate 12, the foot 8 is fixed on it by the first strap 121 to ensure that the patient's foot 8 effectively follows the swing of the moving plate 1.

[0052] See Figure 1 , Figure 2 , Figure 6 and Figure 7 As shown, the side of the casing 4 is fixed with a support seat 41 for the patient's lower leg 81 to rest against, and the support seat 41 is provided with a second strap 411 for fixing the lower leg 81.

[0053] After the patient's foot 8 is fixed on the foot plate 12, the patient's lower leg 81 is supported on the support seat 41 and fixed on it by the second strap 411 to ensure that the patient's ankle is stable during movement.

[0054] The present invention enables the patient's foot 8 to swing along with the movable disc 1 by rotating on the central ball shaft 3. With the swing mechanism 6 driving the movable disc 1, the movable disc 1 swings within the range set by the swing amplitude control component 7, so that the patient's ankle can carry out rehabilitation training within a range that can be adapted to, thereby improving the rehabilitation effect of the patient's ankle.

[0055] The above embodiments only illustrate one or more implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A medical rehabilitation device for adjustable range of motion of the ankle, characterized in that, The utility model provides a kind of foot swing device, including the active disc (1) for patient foot sole (8) to place, the bottom disc (2) is equipped in the lower of active disc (1), and the coaxial and fixed center ball shaft (3) is equipped on bottom disc (2), the bottom surface center of active disc (1) is contacted with the ball body part of center ball shaft (3), and the bottom surface of active disc (1) is equipped with the ball sleeve (11) of active sleeve in center ball shaft (3), the outside of active disc (1) is equipped with sleeve shell (4), and the stand column is equipped on bottom disc (2) for the fixation of sleeve shell (4), and the elastic connecting piece (5) is equipped between the periphery of active disc (1) and sleeve shell (4), and the swing mechanism (6) for driving active disc (1) to rotate with center ball shaft (3) as the axis is equipped between bottom disc (2) and sleeve shell (4), and the swing range control assembly (7) for controlling active disc (1) is further equipped on bottom disc (2); Scheme A: swing mechanism (6) is equipped with air bag bag (61), air bag bag (61) is annular closed structure, air bag bag (61) is sleeved in the top of active disc (1), the inside of air bag bag (61) has the cavity for foot sole (8) to place, air bag bag (61) is located in sleeve shell (4), the edge of air bag bag (61) is fixed in the inner wall of sleeve shell (4), and one air port (611) is respectively set up in the top of air bag bag (61) and corresponds the periphery of active disc (1), when each air port (611) of air bag bag (61) is inflated respectively, the region of air bag bag (61) being inflated is in the inflation state and promotes active disc (1) to be in swing state;Or Scheme B: swing mechanism (6) is equipped with air bag film (63), and the support disc (64) is coaxial with both and is equipped between active disc (1) and bottom disc (2), the center of support disc (64) is equipped with the through hole for center ball shaft (3) to pass through, support disc (64) is fixedly connected with bottom disc (2), and air bag film (63) is fixedly sleeved on support disc (64), and air bag film (63) is located between active disc (1) and support disc (64), each air pipe group (641) is connected with one arc air pipe (642), and the first pipe joint (6421) of each air pipe of air pipe group (641) is connected on arc air pipe (642), and arc air pipe (642) is further provided with a second pipe joint (6422). The elastic connecting piece (5) is provided with a pull rope (51), the four peripheral edges of the movable disc (1) are each provided with a connecting block (52), the four peripheral edges of the sleeve shell (4) are each provided with a hinge block (53) corresponding to the position of each connecting block (52), one end of the pull rope (51) is connected to the connecting block (52), a rotating wheel (531) is rotatably arranged in the hinge block (53), the other end of the pull rope (51) is connected to the rotating wheel (531), the rotating wheel (531) and the hinge block (53) are connected through an axis (5311), the axis direction of the axis (5311) is perpendicular to the axis direction of the sleeve shell (4), one end of the axis (5311) extends outward, an end ring (5312) with a diameter larger than the axis (5311) is arranged on the extending end of the axis (5311), the end ring (5312) and the hinge block (53) are fixedly connected with a torsion spring (532) sleeved on the axis (5311).

2. The adjustable ankle range of motion rehabilitation medical device according to claim 1, wherein, When the swing mechanism is scheme A, the top of the sleeve shell (4) is fixedly provided with an annular air pipe (62) coaxial with the sleeve shell (4), each air port (611) of the air bag (61) is in communication with the annular air pipe (62), a first valve (621) is arranged at the connection between the annular air pipe (62) and each air port (611) of the air bag (61), one side of the annular air pipe (62) is provided with a first air inlet (622), and the other side of the annular air pipe (62) is provided with a first air outlet (623).

3. The adjustable ankle range of motion rehabilitation medical device according to claim 1, wherein, When the swing mechanism is scheme B, a ventilation chamber (643) is arranged between the support disc (64) and the bottom disc (2), the ventilation chamber (643) is located between the four arc-shaped air pipes (642), the second pipe joint (6422) of each arc-shaped air pipe (642) is in communication with the ventilation chamber (643), and a second valve (6431) is arranged at the second pipe joint (6422) of each arc-shaped air pipe (642). The ventilation chamber (643) is respectively provided with a second air inlet (6432) and a second air outlet (6433).

4. The adjustable ankle range of motion rehabilitation device of claim 1, wherein, The swing control assembly (7) is provided with a sleeve (71), the sleeve (71) has four, the four sleeves (71) are uniformly distributed around the bottom disc (2), the axis direction of each sleeve (71) is parallel to the axis direction of the central ball shaft (3), and a plug rod (72) is inserted into each sleeve (71).

5. The adjustable ankle range of motion rehabilitation device of claim 4, wherein, A plurality of pin holes (711) are arranged on the sleeve (71) along the axis direction of the sleeve (71) and are perpendicular to the axis direction of the sleeve (71), a positioning hole corresponding to the pin hole (711) is formed through the plug rod (72), and a plug pin (73) is further inserted between the pin hole (711) and the positioning hole.

6. The adjustable ankle range of motion rehabilitation device of claim 1, wherein, The top of the movable disc (1) is fixedly provided with a foot plate (12) for the patient's foot sole (8) to step on, and the foot plate (12) is provided with a first binding belt (121) for fixing the foot sole (8).

7. The adjustable ankle range of motion rehabilitation medical device of claim 1, wherein, The side of the sleeve shell (4) is fixedly provided with a support seat (41) for abutting against the patient's calf (81), and the support seat (41) is provided with a second binding belt (411) for fixing the calf (81).

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