An ankle prosthesis

Abstract

This application discloses an ankle prosthesis, which includes a heel, an ankle joint, a soleplate, a shock absorber, a connecting rod, a lever, and a torsion spring; the connecting rod, the lever, and the torsion spring are all arranged in front of the shock absorber, the shock absorber is arranged on the upper surface of the ankle joint, one end of the connecting rod is connected to the top of the shock absorber, and the other end is connected to the proximal end of the lever; the distal end of the lever is connected to one spring leg of the torsion spring, and the other spring leg of the torsion spring is fixedly connected to the soleplate; through the cooperation of the shock absorber, the cam, the push rod, the lever, and the torsion spring, this application realizes the storage and release of energy during the movement of the prosthesis, does not require an external power source, and improves the convenience and autonomy of use.

Description

Technical Field

[0001] This application belongs to the field of lower limb prosthetics, and particularly relates to ankle joint prosthetics. Background Art

[0002] At present, ankle joint prosthetics on the market are mainly divided into two categories: passive and active. Passive ankle joint prosthetics: Although the cost is relatively low and easy to maintain, the range of motion is limited and it cannot fully simulate the complex movements of a normal ankle joint. Active ankle joint prosthetics: Although they can provide a wider range of motion and higher gait naturalness, they have a higher cost, require regular maintenance and battery replacement, and the complex mechanical and electronic systems increase the failure rate. Summary of the Invention

[0003] This application provides an ankle joint prosthetic that realizes energy recovery and reuse through optimized mechanical design, does not require connection to an external power source, and can simultaneously achieve multi-degree-of-freedom movement to solve the technical problems existing in the prior art.

[0004] To solve the above technical problems, a technical solution adopted in this application is: An ankle joint prosthetic includes a heel, an ankle joint, a foot sole, a shock absorber, a connecting rod, a lever, and a torsion spring; the connecting rod, the lever, and the torsion spring are all arranged in front of the shock absorber, the shock absorber is arranged on the upper surface of the ankle joint, one end of the connecting rod is connected to the top of the shock absorber, and the other end is connected to the proximal end of the lever; the distal end of the lever is connected to one spring leg of the torsion spring, and the other spring leg of the torsion spring is fixedly connected to the foot sole;

[0005] When the shock absorber is compressed, the shock absorber stores energy. As the shock absorber is compressed, the ankle joint rotates along a first direction, and at the same time drives the connecting rod to move downward, pressing down the proximal end of the lever, lifting the distal end of the lever, and pulling the spring leg of the torsion spring connected to the distal end of the lever upward. The other spring leg of the torsion spring is fixed to the foot sole. When the torsion spring is pulled upward, the torsion spring twists and stores energy; when the shock absorber gradually extends, releasing the stored energy, driving the distal end of the lever to move downward, the ankle joint rotates along a second direction opposite to the first direction, and at the same time, under the restoring force of the torsion spring, the distal end of the lever rotates downward. As the distal end of the lever rotates downward, through the torsion spring, it drives the distal end of the foot sole to move upward.

[0006] According to an embodiment of this application, the bottom surface of the ankle joint is a plane, the front surface is an arc surface, and the connection between the bottom surface and the front surface is smoothly transitioned through an arc.

[0007] According to an embodiment of this application, the foot sole includes a front foot sole and a rear foot sole, there is a gap at the connection between the front foot sole and the rear foot sole, and the lower surfaces of the front foot sole and the rear foot sole are connected by a hinge.

[0008] According to an embodiment of the present application, it further includes a limiting plate, and the upper surfaces of the front foot sole plate and the rear foot sole plate are connected by the limiting plate.

[0009] According to an embodiment of the present application, it further includes a rotating bracket. The lever is rotationally connected to the rotating bracket through a shaft. A through hole is provided in the middle of the limiting plate, and the rotating bracket passes through the through hole from top to bottom and is fixed on the upper surface of the rear foot sole plate.

[0010] According to an embodiment of the present application, the heel is an arc-shaped plate in the shape of a heel. One end of the arc-shaped plate is fixed on the ankle joint, and the other end bypasses the foot sole plate and is fixed on the lower surface of the foot sole plate.

[0011] According to an embodiment of the present application, the bottom surface of the ankle joint is in surface contact with the upper surface of the rear foot sole plate, and the ankle joint can rotate along the front surface on the upper surface of the rear foot sole plate.

[0012] According to an embodiment of the present application, there are multiple torsion springs, and the multiple torsion springs are arranged in parallel.

[0013] According to an embodiment of the present application, the front foot sole plate is a split toe structure.

[0014] According to an embodiment of the present application, it further includes a connecting platform. The connecting platform is arranged on the top of the shock absorber, and one end of the connecting rod is rotationally connected to the front end of the connecting platform.

[0015] The beneficial effects of the present application are as follows: For the ankle prosthesis provided by the present application, during the process of the heel touching the ground, the shock absorber starts to compress and store energy. As the shock absorber compresses, the ankle joint rotates along the first direction, and at the same time drives the connecting rod to move downward, causing the proximal end of the lever to be pressed down and the distal end of the lever to be lifted. The spring foot of the torsion spring connected to the distal end of the lever is pulled upward. The other spring foot of the torsion spring is fixed on the front foot sole plate. When the torsion spring is pulled upward, the torsion spring twists and stores energy. When the distal end of the lever rotates upward, the distal end of the front foot sole plate is pushed downward to achieve plantar flexion movement; when the heel leaves the ground, on the one hand, the shock absorber gradually extends, releasing the stored energy, driving the distal end of the lever to move downward and the ankle joint to rotate along the second direction. On the other hand, under the restoring force of the torsion spring, the distal end of the lever rotates downward. As the distal end of the lever rotates downward, through the torsion spring, the distal end of the front foot sole plate is pushed upward to achieve dorsiflexion movement. Through the cooperation of the shock absorber, cam, push rod, lever, and torsion spring, the present application realizes the storage and release of energy during the movement of the prosthesis, does not require an external power source, and improves the convenience and autonomy of use. Description of the Drawings

[0016] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings, where:

[0017] Figure 1 is a schematic structural diagram of an ankle prosthesis according to an embodiment of the present application;

[0018] Figure 2 is an exploded structural diagram of an ankle prosthesis according to an embodiment of the present application;

[0019] Figure 3 is a schematic structural diagram of an ankle joint according to an embodiment of the present application. Specific Embodiments

[0020] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will provide a detailed description of the specific embodiments of the present application with reference to the accompanying drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. Additionally, it should be noted that for the sake of convenience of description, only the parts related to the present application rather than all the structures are shown in the accompanying drawings. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0021] It should be noted that the front and rear directions in the present application are the front and rear directions of the user. The proximal end refers to the end close to the user, and the distal end refers to the end far from the user.

[0022] Figure 1 is a schematic structural diagram of an ankle prosthesis according to an embodiment of the present application; Figure 2 is an exploded structural diagram of an ankle prosthesis according to an embodiment of the present application.

[0023] Please refer to Figure 1 - Figure 2 , an embodiment of the present application provides an ankle prosthesis, which includes a foot sole, a heel 2, an ankle joint 3, a shock absorber 4, a connecting rod 6, a lever 7, a rotating bracket 8, and a torsion spring 9.

[0024] Among them, the foot sole serves as the structural support of the ankle prosthesis to ensure the overall stability and strength of the prosthesis; the ankle joint 3 is arranged on the upper surface of the foot sole to control the movement range of the foot and provide a natural gait; the shock absorber 4 is arranged on the top surface of the ankle joint 3 to absorb and store energy, and at the same time provide a buffering effect to reduce the impact on the user; the connecting rod 6 and the lever 7 are located in front of the shock absorber to transmit the force of the shock absorber 4 to the torsion spring 9.

[0025] Please refer to Figure 3 The ankle joint 3 is a cam structure with a special shape. Its bottom is flat to increase the contact area with the rear foot sole 1-2, and its front surface is an arc structure. The connection between the bottom and the front surface of the ankle joint 3 has a smooth transition to provide a smooth rotational movement. The ankle joint 3 functions as a physiological ankle joint, controlling the range of foot movement and providing a natural gait. The upper surface of the ankle joint 3 has a mounting hole 3-1 for connecting the shock absorber 4.

[0026] Continue to refer to the appendix Figure 1 - 2 The foot sole includes a front foot sole 1-1 and a rear foot sole 1-2. The rear foot sole 1-2 serves as the main support structure of the prosthesis. It has a larger contact area with the ground, providing better support and stability, especially during the heel-strike phase; the front foot sole 1-1 functions during the toe-off phase, facilitating the prosthesis to lift and move forward more flexibly during propulsion. The front end of the front foot sole 1-1 adopts a split-toe structure, and there is a gap at the connection between the front foot sole 1-1 and the rear foot sole 1-2. The lower surfaces of the front foot sole 1-1 and the rear foot sole 1-2 are connected by a hinge 12. By dividing the foot sole into a front and a rear foot sole, with the front end of the front foot sole 1-1 adopting a split-toe structure and connecting their lower surfaces by a hinge, a certain degree of varus and valgus can be achieved during walking, enabling the prosthesis to better adapt to different ground conditions and improving the naturalness and comfort of the gait.

[0027] Furthermore, the rear foot sole 1-2 is the rear support structure of the prosthesis and is a cuboid structure to provide sufficient support and flexibility; when the prosthesis is in a stationary state, the shock absorber 4 is basically perpendicular to the horizontal ground, and the lower surface of the ankle joint 3 is in surface contact with the upper surface of the rear foot sole 1-2 to provide stable support for the patient.

[0028] In one embodiment, one end of the heel 2 is connected to the side surface of the ankle joint 3 through a bracket 5, and the other end bypasses the rear foot sole 1-2 and is fixedly arranged on the lower surface of the rear foot sole 1-2.

[0029] Please continue to refer to Figure 1 - 2 The heel 2 is an arc-shaped plate in the shape of a heel. A groove is provided at one end of the arc-shaped plate close to the ankle joint 3, and at least part of the ankle joint 3 is located within the groove. The two side edges of the groove are respectively fixedly connected to the two side surfaces of the ankle joint 3 through brackets 5. Setting the heel 2 as an arc-shaped plate in the shape of a heel can provide a natural ground contact feeling and support.

[0030] In one embodiment, to prevent excessive dorsiflexion, the prosthesis further includes a limit plate 10. The upper surfaces of the front foot sole 1-1 and the rear foot sole 1-2 are connected by the limit plate 10. When the foot reaches a predetermined dorsiflexion angle, the limit plate 10 will prevent further movement, ensuring that the foot moves within a safe range.

[0031] In one embodiment, the ankle prosthesis further includes a connection platform 11. The connection platform 11 is disposed above the shock absorber 4 and is used to connect the user's limb. In addition, one end of the connecting rod 6 is rotatably disposed at the front end of the connection platform 11.

[0032] The shock absorber 4 is a hydraulic shock absorber. The hydraulic shock absorber includes a cylindrical barrel, a rod disposed in the barrel, and a spring. One end of the rod extends out of one end of the barrel and is fixedly connected in the mounting hole 3-1 on the upper surface of the ankle joint 3. The connection platform 11 is connected to the other end of the cylindrical barrel.

[0033] The connection platform 11 is disposed on the top of the shock absorber 4. One end of the connecting rod 6 is rotatably connected to the front end of the connection platform. The other end is connected to one end of the lever 7. The lever 7 is rotatably fixed to the rear foot plate 1-2 through a rotating bracket 8. One spring leg of the torsion spring 9 is fixed to the other end of the lever 7, and the other spring leg of the torsion spring 9 is fixedly connected to the proximal end of the front foot plate 1-1. Among them, the rotating bracket 8 serves as the rotation center of the lever and other components to ensure the smoothness of the movement. The torsion spring 9 stores energy first and then releases energy during the movement to help the foot achieve plantar flexion and dorsiflexion movements.

[0034] The limiting plate 10 is provided with a through hole. The bottom of the rotating bracket 8 passes through the through hole and is fixed to the upper surface of the rear foot plate 1-2, and the top of the rotating bracket 8 is exposed from the through hole. In order to realize the connection between the torsion spring 9 and the front foot plate 1-1, the torsion spring 9 is located in the through hole. The number of the torsion springs 9 can be selected according to needs. When there are multiple torsion springs 9, the multiple torsion springs 9 are arranged in parallel.

[0035] The working principle of the ankle prosthesis of the present application:

[0036] When the user stands, the prosthesis is in the initial position and all components are in a static state. When the user takes a step and the heel of the foot touches the ground, the shock absorber 4 starts to compress, absorbs and stores the impact force generated by the heel touching the ground. As the shock absorber 4 compresses, the ankle joint 3 starts to rotate in the first direction. During the compression of the shock absorber 4, the connecting rod 6 moves downward. The downward movement of the connecting rod 6 causes the lever 7 to rotate as the connecting rod moves. The proximal end of the lever 7 is pressed down, and the distal end of the lever 7 is lifted, preparing for the next plantar flexion movement. When the distal end of the lever 7 rotates upward, the torsion spring 9 connected to the lever 7 is compressed. The spring leg of the torsion spring 9 connected to the lever 7 is pulled upward. The other spring leg of the torsion spring 9 is connected to the proximal end of the front foot plate 1-1. Therefore, when the distal end of the lever 7 rotates upward, the front foot plate 1-1 is pushed downward, and the ankle joint 3 continues to rotate until the arc-shaped top of the front surface of the ankle joint 3 touches the rear foot plate 1-2, completing the plantar flexion movement to help the user move forward.

[0037] During the dorsiflexion phase, the shock absorber 4 gradually extends, releasing the energy stored during the landing phase; the distal end of the lever 7 rotates downward under the elastic restoring force of the torsion spring, and the proximal end of the lever 7 rotates upward. As the shock absorber 4 extends, the connecting rod 6 moves upward, further pushing the proximal end of the lever to lift. During the gradual extension of the shock absorber 4, the ankle joint 3 rotates in a second direction opposite to the first direction; when the distal end of the lever 7 rotates downward, since the other spring leg of the torsion spring 9 is connected to the proximal end of the front foot sole 1-1, the front foot sole 1-1 is pushed upward when the distal end of the lever 7 rotates downward, achieving dorsiflexion movement.

[0038] The above is only the implementation mode of this application, and does not limit the patent scope of this application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, is similarly included in the patent protection scope of this application.

Claims

1. An ankle joint prosthesis, characterized in that: It includes a heel, an ankle joint, a sole, a shock absorber, a connecting rod, a lever, and a torsion spring; the connecting rod, the lever, and the torsion spring are all arranged in front of the shock absorber, the shock absorber is arranged on the upper surface of the ankle joint, one end of the connecting rod is connected to the top of the shock absorber, and the other end is connected to the proximal end of the lever; the distal end of the lever is connected to a spring foot of the torsion spring, and the other spring foot of the torsion spring is fixedly connected to the sole; When the shock absorber is compressed, the shock absorber stores energy. With the compression of the shock absorber, the ankle joint rotates in a first direction, and at the same time drives the connecting rod to move downward so that the proximal end of the lever is pressed down, the distal end of the lever is lifted, and the spring foot of the torsion spring connected to the distal end of the lever is pulled upward, and the other spring foot of the torsion spring is fixed to the sole plate. When the torsion spring is pulled upward, the torsion spring twists and stores energy; when the shock absorber gradually extends, the stored energy is released, driving the distal end of the lever to move downward, the ankle joint rotates in a second direction opposite to the first direction, and at the same time, the distal end of the lever rotates downward under the restoring force of the torsion spring. The distal end of the lever rotates downward, and through the torsion spring, the distal end of the sole plate is driven to move upward; The ankle joint is a cam structure, the bottom surface of the ankle joint is a plane, the front surface is an arc surface, and the connection between the bottom surface and the front surface is smoothly transitioned through an arc.

2. The ankle joint prosthesis according to claim 1, characterized in that: The sole plate includes a front sole plate and a rear sole plate, a gap is left at the connection between the front sole plate and the rear sole plate, and the lower surfaces of the front sole plate and the rear sole plate are connected by a hinge.

3. The ankle joint prosthesis according to claim 2, characterized in that: It also includes a limiting plate, and the upper surfaces of the front foot sole plate and the rear foot sole plate are connected by the limiting plate.

4. The ankle joint prosthesis according to claim 3, characterized in that: It also includes a rotating bracket, the lever is rotatably connected to the rotating bracket through an axis, a through hole is arranged in the middle of the limiting plate, and the rotating bracket passes through the through hole from top to bottom and is fixed to the upper surface of the rear foot sole.

5. The ankle joint prosthesis according to claim 1, characterized in that: The heel is an arc-shaped plate in a heel-like shape, one end of the arc-shaped plate is fixed on the ankle joint, and the other end bypasses the sole plate and is fixed on the lower surface of the sole plate.

6. The ankle joint prosthesis according to claim 2, characterized in that: The bottom surface of the ankle joint is in surface contact with the upper surface of the rear foot sole plate, and the ankle joint can rotate on the upper surface of the rear foot sole plate along the front surface.

7. The ankle joint prosthesis according to claim 1, characterized in that: There are multiple torsion springs, and the multiple torsion springs are arranged in parallel.

8. The ankle joint prosthesis according to claim 2, characterized in that: The forefoot sole plate is a split-toe structure.

9. The ankle joint prosthesis according to claim 3, characterized in that: It also includes a connecting platform, which is arranged on the top of the shock absorber, and one end of the connecting rod is rotatably connected to the front end of the connecting platform.

Images