Knee joint rehabilitation exercise auxiliary equipment for children orthopedics department

Abstract

The invention discloses knee joint rehabilitation exercise auxiliary equipment for the child orthopedics department, and relates to the field of medical instruments. Traditional knee joint rehabilitation assisting equipment lacks an accurate track guiding structure, cannot achieve multi-directional knee joint movement guiding and is difficult to meet the requirements of children of different age groups. The invention provides knee joint rehabilitation exercise auxiliary equipment for children orthopedics, which comprises a wearable leg fixer, a seat assembly, a track assembly, a multi-mode training assembly matched with the track assembly for operation, and a hand control assembly for electrically controlling the multi-mode training assembly, the wearable leg fixator is controlled by driving the multi-mode training assembly to achieve an autonomous pedaling training mode, a rail type passive training mode and a rail type autonomous training mode. The stability and safety of knee joint rehabilitation training of children are guaranteed, and accurate motion guidance and feedback adjustment are provided.

Description

Technical Field

[0001] The invention relates to the field of medical instruments, and in particular to a knee joint rehabilitation exercise auxiliary device for children's orthopedics. Background Art

[0002] Knee joint injury or postoperative rehabilitation is more common in children, especially after accidents, sports injuries or congenital diseases. During the process of knee joint injury or postoperative rehabilitation in children, they often need to use external equipment to perform regular joint activities to promote the recovery of joint function. However, most existing rehabilitation devices are designed for adults, are large in size and complex to operate, and lack designs for children's special needs, especially in terms of flexibility and adjustment functions, which affects the effect of children's rehabilitation training.

[0003] In the prior art, although there are some devices that can assist knee joint rehabilitation, these devices generally lack precise track guidance structures and cannot achieve multi-directional knee joint motion guidance. Especially in the rehabilitation process of children, because their joints are not fully developed, the range of motion and force requirements of the joints are significantly different from those of adults. Most of the existing rehabilitation equipment adopts a simple mechanical push-pull design, which is difficult to adapt to the needs of children of different ages. The lack of effective track guidance and incentive feedback mechanism may cause the equipment to have unstable movement or uneven force during operation, thereby affecting the effect of rehabilitation training. In addition, during use, the existing equipment often lacks sufficient automatic adjustment functions and cannot be accurately adjusted according to the length and range of motion of the child's leg. For the rehabilitation training of the knee joint, multi-dimensional motion guidance, smooth sliding structure and accuracy of motion trajectory are crucial, and the prior art fails to provide sufficient motion path constraints or incentive feedback mechanisms, which limits the flexibility and effect of children's rehabilitation training. Therefore, in response to the needs of children's knee joint rehabilitation, it has become an important demand in the field of rehabilitation to develop a specially designed, lightweight and versatile auxiliary device that can provide a variety of exercise modes and has strong adjustability and safety.

[0004] For example, in the Chinese invention patent with application number 202220111657.5, a knee joint rehabilitation training auxiliary device for children's orthopedics is disclosed. It includes an adjustable waist belt, and two sets of third adjustment belts are symmetrically fixed on the side wall of the adjustable waist belt. The ends of each set of the third adjustment belts are commonly fixed with a first deflection structure for fixing to the thigh part, and the first deflection structure is movably installed with a positioning structure fixed to the joint part at one end away from the third adjustment belt, and the side wall of the positioning structure and the inner side of the first deflection structure are movably installed with a second deflection structure fixed to the calf part, and at least one elastic training belt is installed between the first deflection structure and the second deflection structure.

[0005] However, the pediatric orthopedic knee joint rehabilitation training auxiliary device in the above patent also has the following defects:

[0006] (1) The entire device patent lacks a guide groove structure for the track assembly, which cannot ensure the smoothness and accuracy of movement, and can easily lead to unstable knee joint movement or inconsistent movement trajectory.

[0007] (2) The entire device does not have a built-in incentive system and cannot adjust the rhythm and intensity of rehabilitation training through motion feedback, which affects the effect of children's knee joint rehabilitation.

[0008] (3) Although the adjustment strap and deflection structure design mentioned in the patent can fix the limbs, they lack the function of flexible adjustment according to the different leg lengths and exercise needs of children, which limits the scope of use. Summary of the invention

[0009] The present invention proposes a pediatric orthopedic knee joint rehabilitation training auxiliary device to solve the defects in the above-mentioned prior art. It has the advantages of reasonable structural design, stable motion guidance, and significant rehabilitation effect. It aims to ensure the stability and safety of children's knee joint rehabilitation training, provide precise motion guidance and feedback adjustment, and adapt to the leg size and rehabilitation needs of different children, thereby improving rehabilitation efficiency and shortening the rehabilitation cycle.

[0010] To achieve the above purpose, the technical idea of ​​the present invention is:

[0011] (1) A track body and a multimodal training component are provided. The track body has a guiding function, and a guiding groove is provided on the outer surface to guide the multimodal training component to slide stably along the track body. The multimodal training component includes a driving rod, a rod sleeve, and a sliding roller. The driving rod is connected to the track body through the rod sleeve to ensure stability during movement. An excitation system is provided inside the track body. The excitation system cooperates with the movement of the multimodal training component and can respond according to the pressure change of the multimodal training component, thereby enhancing the effect of rehabilitation training and ensuring accurate guidance of the movement trajectory.

[0012] (2) Design multiple training modes: In the track-based passive training mode, the hand control component turns on the drive motor through the electronic control system, drives the first drive gear to rotate, and drives the multimodal training component to move along the track body; in the track-based active training mode, the drive motor is turned off, and the multimodal training component can slide freely along the track through the force of the pedals; in the autonomous pedaling training mode, the user can enter the bicycle mode through the retractable third rod section of the drive rod, and drive the component to slide through the power of the foot.

[0013] To achieve the above purpose, the technical solution adopted by the present invention is:

[0014] A knee joint rehabilitation exercise auxiliary device for children's orthopedics, including a wearable leg fixator and a seat assembly; characterized in that it also includes a track assembly, a multimodal training assembly that cooperates with the track assembly, and a hand control assembly that electrically controls the multimodal training assembly, and the wearable leg fixator is driven to control the wearable leg fixator to realize an autonomous pedaling training mode, a track-type passive training mode, and a track-type autonomous training mode.

[0015] Furthermore, the track assembly includes a support plate and a track body arranged on the support plate; the track body is a channel with a guiding function, and guide grooves are arranged on two relative outer surfaces to cooperate and guide the forward and backward or up and down movement of the multimodal training component, and an excitation system is arranged inside the track body.

[0016] Furthermore, the motivation system is used to provide visual or auditory feedback when the multimodal training component moves along the track body to a predetermined position, so as to motivate the user to perform rehabilitation training.

[0017] Furthermore, the wearable leg fixing protector comprises a main shell rod, on which an adjustable fastening belt for adjusting tightness according to the leg size of the child is arranged, and a foot pedal is arranged at the bottom of the main shell rod.

[0018] Furthermore, the multimodal training component includes a driving rod and a rod sleeve. One end of the driving rod is connected to the foot pedal, and the rod sleeve is sleeved on the outside of the driving rod. The rod sleeve ensures that the driving rod runs smoothly during exercise by sliding with the driving rod.

[0019] Furthermore, the multimodal training component also includes a driving roller, which is installed at the end of the driving rod and cooperates with the guide groove of the track body. The driving roller is used to roll on the track body, thereby guiding the multimodal training component to move forward and backward or up and down along the track body.

[0020] Furthermore, the driving rod includes a first rod segment, a second rod segment and a third rod segment which are hinged in pairs through a hinge structure; and a fixed shaft is installed at the end of the third rod segment, a driving motor is arranged inside the fixed shaft, and a first driving gear and a second driving gear are sleeved outside the fixed shaft.

[0021] Further, the first driving gear is rotationally connected to the fixed shaft, the second driving gear is fixedly connected to the fixed shaft, and the driving motor drives the first driving gear to rotate.

[0022] Furthermore, the third rod segment is a telescopic structure, and the third rod segment includes a plurality of sleeved segments, and each segment can move relative to other segments along the axial direction of the rod segment to achieve telescoping.

[0023] To achieve the above object, the present invention comprises the following steps:

[0024] S1, start track passive training mode

[0025] Putting the wearable leg restraint on the user's legs and securing the body to the seat assembly;

[0026] Connecting the foot pedal to the multimodal training component;

[0027] The hand control component controls the driving motor to drive the first driving gear to rotate, thereby driving the multimodal training component to move along the track component to achieve passive training;

[0028] S2, start track active training mode

[0029] Turn off the hand control component;

[0030] Push the pedal horizontally to drive the multimodal training component to move forward and backward along the track component to achieve an active training mode;

[0031] S3, start the autonomous pedaling training mode

[0032] The user moves the foot pedal outward by his own strength, so that the second driving gear meshes with the driving roller;

[0033] By bending the hinge structure, the first rod segment, the second rod segment and the third rod segment are made perpendicular to each other;

[0034] Stretch the third rod section and control the pedals with your feet to make circular motions, thereby achieving autonomous pedaling training.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. The present invention provides a stable motion guidance and real-time feedback mechanism by setting up a track body and a multimodal training component and integrating an excitation system in the track body. Compared with traditional equipment, this design can ensure that the multimodal training component moves along a precise trajectory, avoid motion deviation, and adjust the training intensity through pressure feedback, thereby improving the effect and safety of rehabilitation training.

[0037] 2. The present invention provides a variety of training modes, including autonomous pedaling training mode, track-type passive training mode and track-type autonomous training mode, to meet the needs of different rehabilitation stages. The hand control component cooperates with the drive motor, allowing users to flexibly switch training modes, improving the convenience and applicability of the device, and is suitable for children of different ages and rehabilitation levels. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] Figure 1This is a usage state diagram of a child orthopedic knee joint rehabilitation exercise auxiliary device of the present invention;

[0040] Figure 2 yes Figure 1 Structural diagram of the fixed protective shell of the middle leg;

[0041] Figure 3 yes Figure 2 Another angle of the structure diagram;

[0042] Figure 4 is a cross-sectional view of the first drive gear and the second roller meshing;

[0043] Figure 5 It is a structural diagram of the track assembly;

[0044] Figure 6 yes Figure 1 Another angle of the structure diagram;

[0045] Figure 7 It is a structural diagram of the multimodal training component;

[0046] Figure 8 yes Figure 7 Structural diagram of the middle drive rod;

[0047] Fig. 9 yes Figure 8 Detailed enlargement of the image;

[0048] Fig.10 It is a schematic diagram of the structure of the multimodal training component;

[0049] Fig.11 It is a structural diagram of the sliding roller;

[0050] Fig.12 This is a usage status diagram of the autonomous pedaling training mode of a knee joint rehabilitation training auxiliary device for children's orthopedics;

[0051] Fig.13 yes Fig.12 A cross-sectional view of

[0052] Fig.14 yes Fig.13 Detailed enlargement of the image;

[0053] Fig.15 This is the structural diagram of the third rod section.

[0054] In the figure: 1. Leg fixing protective shell; 11. Shell main rod; 111. First connecting section; 1111. First fixed end; 1112. First sliding end; 112. Second connecting section; 1121. Second fixed end; 1122. Second sliding end; 113. Rotary joint; 12. Adjustable fastening belt; 13. Foot pedal;

[0055] 2. Track assembly; 21. Support plate; 22. Track body; 221. Guide chute; 222. Excitation system;

[0056] 3. Multimodal training component; 31. Driving rod; 311. First rod segment; 312. Second rod segment; 313. Third rod segment; 314. Fixed shaft; 315. First driving gear; 316. Second driving gear; 317. Driving motor; 318. Articulated structure; 32. Rod sleeve; 33. Sliding roller; 331. Guide plate; 332. First roller; 3321. Rack; 3322. Rotating shaft; 3323. Connecting rod; 333. Second roller;

[0057] 4. Hand control components;

[0058] 5. Seat assembly; 51. Seat; 52. Lumbar fixing frame. DETAILED DESCRIPTION

[0059] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0060] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0061] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0062] Example of Track-type Passive Training

[0063] Combination Figures 1 to 15 The present invention discloses a knee joint rehabilitation training auxiliary device for children's orthopedics, comprising a wearable leg fixator 1 and a seat assembly 5; the characteristic is that it also includes a track assembly 2, a multimodal training assembly 3 cooperating with the track assembly 2, and a hand control assembly 4 electrically controlling the multimodal training assembly 3, and the wearable leg fixator 1 is controlled by driving the multimodal training assembly 3 to realize an autonomous pedaling training mode, a track-type passive training mode and a track-type autonomous training mode.

[0064] like Figure 2-3The wearable leg fixing protector 1 comprises a shell main rod 11 , on which an adjustable fastening belt 12 for adjusting tightness according to the leg size of the child is arranged, and a foot pedal 13 is arranged at the bottom of the shell main rod 11 .

[0065] Specifically, the main rod 11 of the outer shell serves as the main supporting structure of the device. It is in an elongated shape as a whole, has certain strength and toughness, can effectively support the legs of children, and is fixed to the surface of the legs through an adjustable fastening belt 12. The main rod 11 of the outer shell includes a first connecting section 111, a second connecting section 112 and a rotating joint 113, wherein: the first connecting section 111 and the second connecting section 112 are hingedly connected through the rotating joint 113, and the setting of the rotating joint 113 enables the main rod 11 of the outer shell to be adjusted between different angles to adapt to different leg bending angles.

[0066] Specifically, the first connecting section 111 further includes a first fixed end 1111 and a first sliding end 1112, wherein the first sliding end 1112 can slide along the first fixed end 1111, and the second connecting section 112 further includes a second fixed end 1121 and a second sliding end 1122, and the second fixed end 1121 is a fixed part of the second connecting section 112, which is usually a tubular or groove-shaped structure, has high rigidity and strength, and can provide stable support for the second connecting section 112.

[0067] Specifically, the second sliding end 1122 can slide along the inside or outside of the second fixed end 1121, and the length of the second connecting section 112 can be adjusted by sliding, so that the overall length of the shell main rod 11 can be personalized according to the actual size of the child's legs.

[0068] It is worth noting that the sliding structure between the second sliding end 1122 and the second fixed end 1121 is designed to be connected by a guide rail, a slide groove or a slot, and a locking mechanism such as a buckle, a screw, etc. is provided between the second fixed end 1121 and the second sliding end 1122.

[0069] Specifically, a foot pedal 13 is provided at the bottom of the housing main rod 11 for supporting the child's feet. The foot pedal 13 is fixedly connected to the housing main rod 11, and the bottom of the foot pedal 13 is welded to one end of the driving rod 31.

[0070] Specifically, the seat assembly 5 includes a seat 51 and a waist fixing frame 52. The seat 51 is adjustable in height and tilt angle to accommodate different patient body types and provide comfortable support. The waist fixing frame 52 is connected to the seat, has an adjustable position, and fixes the patient's waist with a tightening belt. The waist fixing frame 52 is connected to a wearable leg fixator 1.

[0071] like Figure 5The track assembly 2 includes a support plate 21 and a track body 22 disposed on the support plate 21; the track body 22 is a channel with a guiding function, and two opposite outer surfaces are provided with guide grooves 221 to cooperate with and guide the front-back or up-and-down movement of the multimodal training assembly 3, and an excitation system 222 is disposed inside the track body 22;

[0072] Specifically, the support plate 21 is a rectangular plate structure, which is mainly used to carry and fix the track body 22. The support plate 21 is fixed to the frame or body of the rehabilitation device by welding or screw connection, and the track body 22 is a channel structure with a guiding function, which can be in the shape of a long strip or other geometric shapes suitable for guiding, and is used to provide a motion path for the multimodal training component 3. The track body 22 is made of lightweight and wear-resistant materials to ensure its service life and smooth operation.

[0073] Specifically, the track body 22 is mounted on the support plate 21 through multiple fixing points such as screws or buckles, so that the track assembly 2 as a whole has good structural stability and can resist the sliding friction of the multimodal training assembly 3 and the workload of the excitation system 222. Guide grooves 221 are provided on the two opposite outer surfaces of the track body 22. These guide grooves 221 extend along the longitudinal direction of the track body 22, and the guide grooves 221 are designed as embedded notches. The guide components of the multimodal training assembly 3, such as the sliding roller 33 and the sliding block, can be embedded in the grooves, so that the multimodal training assembly 3 will not deviate when moving forward and backward or up and down on the track body 22, thereby ensuring the stability and accuracy of its motion trajectory.

[0074] like Figure 6-7 The multimodal training component 3 can move forward and backward or up and down along the track body 22 under the restriction of the guide slot 221. The multimodal training component 3 is embedded in the guide slot 221 through the sliding roller 33, and is closely matched with the guide slot 221 of the track body 22. This close connection method can not only ensure the smoothness during the movement, but also effectively reduce the friction resistance of the equipment and extend the service life of the equipment.

[0075] It is worth noting that the incentive system 222 is used to provide visual or auditory feedback when the multimodal training component 3 moves to a predetermined position along the track body to encourage the user to perform rehabilitation training. It is mainly used to respond to the pressure generated when the multimodal training component 3 moves on the guide groove 221, and thereby trigger the corresponding incentive feedback mechanism.

[0076] Specifically, the excitation system 222 depends on the movement of the multimodal training component 3 on the guide slot 221. When the multimodal training component 3 slides forward and backward or up and down, its surface structure contacts and applies pressure to the excitation device in the guide slot 221. This pressure is transmitted to the excitation system 222 inside the track body 22 through the thrust of the multimodal training component 3, thereby triggering the internal preset excitation points, and then activating different movement modes or auxiliary functions.

[0077] Specifically, a plurality of excitation points are arranged inside the track body 22 along the sliding path, and these excitation points are distributed at specific positions along the guide chute 221. The excitation points can be evenly distributed or set at key positions according to the needs of rehabilitation training. Each excitation point is a pressure sensing device such as a pressure sensor or a mechanical trigger. When the multimodal training component 3 moves to the excitation point on the chute, a certain force is applied to activate the feedback mechanism corresponding to the point.

[0078] like Figure 8 The multimodal training component 3 mainly includes a driving rod 31 and a rod sleeve 32. One end of the driving rod 31 is connected to the foot pedal 13, and the rod sleeve 32 is sleeved on the outside of the driving rod 31. The rod sleeve 32 slides with the driving rod 31 to ensure that the driving rod 31 runs smoothly during exercise.

[0079] Specifically, the multimodal training component 3 also includes a driving roller 33, which is installed at the end of the driving rod 31 and cooperates with the guide groove 221 of the track body 22. The driving roller 33 is used to roll on the track body 2, thereby guiding the multimodal training component 3 to move forward and backward or up and down along the track body 2.

[0080] Specifically, the driving rod 31 is composed of a three-section structure, including a first rod segment 311, a second rod segment 312 and a third rod segment 313 which are hinged in pairs through a hinge structure 318; and a fixed shaft 314 is installed at the end of the third rod segment 313, a driving motor 317 is arranged inside the fixed shaft 314, and a first driving gear 315 and a second driving gear 316 are sleeved on the outside of the fixed shaft 314.

[0081] Specifically, the hinge structure 318 includes a rod and a locking member. The two ends of the rod are provided with locking members, which are used to fix the angle of the hinge structure 318 to prevent the rod segment from accidentally moving or bending during movement, and the locking member usually adopts a spiral locking mechanism.

[0082] Specifically, the rod sleeve 32 is sleeved on the outside of the driving rod 31, mainly playing a stabilizing and guiding role. The matching design of the rod sleeve 32 and the driving rod 31 ensures that the driving rod 31 has good stability during the extension and sliding process. Through the sliding fit, the rod sleeve 32 limits the lateral deviation of the driving rod 31, so that the entire device remains stable during operation.

[0083] It is worth noting that the hand control component 4 drives the drive motor 317 through electrical control, thereby driving the multimodal training component 3. Specifically, the hand control component 4 includes a control panel and a wire interface connected to the drive motor 317. The user inputs a control signal through the button or knob of the control panel, and the signal is transmitted to the drive motor 317 through the wire, thereby realizing the start, stop or speed adjustment of the drive motor.

[0084] like Fig. 9 A fixed shaft 314 is installed at the end of the third rod segment 313, a driving motor 317 is arranged in the fixed shaft 314, a first driving gear 315 is rotationally connected to the fixed shaft 314, a second driving gear 316 is fixedly connected to the fixed shaft 314, and the driving motor 317 drives the first driving gear 315 to rotate.

[0085] Specifically, the drive motor 317 is an existing structure - an annular frameless torque motor, which is composed of a stator and a rotor. The drive motor 317 is located at the leftmost side of the fixed shaft 314, and the first drive gear 315 is directly fixedly connected to the rotor part of the motor. When the motor is powered on, the stator coil generates a rotating magnetic field, driving the rotor part to rotate, and the first drive gear 315 rotates synchronously therewith. The first drive gear 315 is provided with a circular ring-shaped insert plate adapted to the inner diameter of the rotor. When inserted and fixed in the rotor of the motor, it ensures that the fixed shaft 314 rotates synchronously with the rotor.

[0086] Specifically, when the driving motor 317 drives the first driving gear 315 to rotate, the sliding roller 33 can move smoothly on the track body 22 through meshing with the rack. This design can ensure that the foot pedal 13 can slide back and forth in the track, simulating the natural movement pattern of the knee joint, thereby achieving the effect of rehabilitation exercise.

[0087] Specifically, the sliding roller 33 is installed at the end of the driving rod 31 and cooperates with the guide groove 221 of the track body 22. The sliding roller 33 is used to roll on the track body 22, thereby guiding the multimodal training component 3 to move forward and backward or up and down along the track body 22.

[0088] like Fig.11 The sliding roller 33 includes two guide plates 331, two first rollers 332 and two second rollers 333. The guide plates 331 are located at the front end of the sliding roller 33. The two guide plates 331 clamp the track body 22 from two opposite sides. The main function of the guide plates 331 is to provide rolling guidance to ensure that the driving roller can smoothly roll in the guide groove 221 of the track body 22. The guide plates 331 are connected to the first rollers 332 by rotation.

[0089] Specifically, the first roller 332 is located in the middle of the two guide plates 331. The first roller 332 includes a rotating shaft 3322, through which a rotation connection is formed with the guide plate 331 to ensure that the first roller 332 can rotate independently during movement. A plurality of racks 3321 are circumferentially arranged on the outer surface of the rotating shaft 3322. Both ends of the racks 3321 are slightly shorter than the rotating shaft 3322. Two connecting rods 3323 are arranged near the end of the rotating shaft 3322 near the driving rod 31, and each end of the two connecting rods 3323 is connected to a second roller 333.

[0090] Specifically, the second roller 333 is meshed with the first driving gear 315, ensuring that the power of the driving device can be directly transmitted to the second roller 333 through the rotation of the first driving gear 315, thereby driving the entire driving roller to move forward and backward or up and down along the track body 22. When the driving motor 317 drives the driving gear to rotate through the fixed shaft 314, the gear meshed with the second roller 333 moves synchronously, ensuring that the multimodal training component 3 can stably run along the track.

[0091] It is worth noting that when the driving motor 317 is started and drives the fixed shaft 314 to rotate, the first driving gear 315 starts to rotate. The second roller 333 meshing therewith will move synchronously, thereby driving the entire driving roller to roll in the guide groove 221 of the track body 22. This structure ensures that the foot pedal 13 can reciprocate back and forth stably and smoothly, meeting the movement requirements of different rehabilitation training stages.

[0092] Example of Track-Based Active Training

[0093] On the basis of track-type passive training, the driving motor 317 is not started, and the multimodal training component 3 is driven to reciprocate along the track body 22 only by the force applied by the foot. By pushing the driving rod 31 forward, since the first driving gear 315 is rotatably connected with the fixed shaft 314, when the foot pedal 13 moves forward in translation, the first driving gear 315 is meshed with the second roller 333, which drives the multimodal training component 3 to move.

[0094] Specifically, the foot pedal 13 is fixedly connected to the first rod section 311 of the driving rod 31. The user pushes or pulls the foot pedal 13 by applying force through the foot, and the force is transmitted to the rest of the driving rod 31 through the first rod section 311. The external gear structure of the first driving gear 315 meshes with the gear on the second roller 333. When the driving rod 31 is pushed forward and backward by the foot, the first driving gear 315 rotates accordingly, and due to the meshing action between the gears, the rotation of the first driving gear 315 will drive the second roller 333 to move together.

[0095] Specifically, when the first driving gear 315 meshes with the second roller 333 and rotates, the multimodal training component 3 will reciprocate along the track, driving the movement of the foot pedal 13 to achieve rehabilitation training of the knee joint.

[0096] Embodiment of autonomous pedaling training mode

[0097] On the basis of track-type active training, the third rod segment 313 is a telescopic structure, and the third rod segment 313 includes a plurality of sleeved segments, and each segment can move along the axial direction of the rod segment relative to other segments to achieve telescopic. The telescopic length of the third rod segment 313 can be adjusted by a locking device or a limiting device to adapt to different training modes.

[0098] Specifically, when the pedaling mode is required, the third rod segment 313 is extended, and the first rod segment 311, the second rod segment 312 and the third rod segment 313 are bent by the hinge structure 318, so that the third rod segment 313, the first rod segment 311 and the second rod segment 312 are at right angles to each other, forming a suitable angle for pedaling. The foot directly applies force forward by stepping on the pedal 13, pushing the driving rod 31 to rotate. This movement mode simulates the pedaling mode of a bicycle, which helps to enhance the flexibility of the knee joint and the strength of the legs.

[0099] Specifically, the fixed rod 314 is also provided with a second driving gear 316 fixedly connected thereto. In the pedaling mode, when the driving rod 31 rotates driven by the foot, the fixed shaft 314 rotates accordingly. Since the second driving gear 316 is fixedly mounted on the fixed shaft 314, the rotation of the fixed shaft 314 drives the second driving gear 316 to mesh with the second roller 333. The rotation of the second driving gear 316 further converts the force applied by the foot into power to drive the multimodal training component 3 to move along the track body 22 through the meshing action with the second roller 333, thereby realizing the pedaling-type reciprocating motion.

[0100] Specifically, the guide plate 331 is sleeved on the outside of the second roller 333 and the first drive gear 315 and the second drive gear 316, and plays a limiting role to prevent the first drive gear 315, the second drive gear 316 and the second roller 333 from excessive displacement during the movement. In the pedal mode, as the drive rod 31 moves horizontally, the guide plate 331 limits the lateral movement distance of the first drive gear 315 and the second drive gear 316, ensuring that the gears always remain in a precise position for meshing, thereby avoiding deviation or derailment during the movement.

[0101] The workflow of the above embodiment is:

[0102] S1, start track passive training mode

[0103] First, start the track-type passive training mode. In this step, put the wearable leg fixator 1 into the user's legs to ensure that the user's legs are securely fixed, and ensure that the wearable leg fixator 1 is fully fitted with the user's legs to provide effective support. At the same time, fix the user's body on the seat assembly 5 to ensure that the user can maintain a stable sitting posture during training and reduce unnecessary displacement. Next, connect the foot pedal 13 and the multimodal training assembly 3 to ensure a close fit between the foot pedal 13 and the multimodal training assembly 3 so that power can be effectively transmitted during training.

[0104] Then, the drive motor 317 is controlled by the hand control component 4. When the drive motor 317 is started, the first drive gear 315 starts to rotate, and through the gear transmission system, the rotation of the first drive gear 315 drives the multimodal training component 3 to move along the track component 2. In this process, the user does not need to actively participate, and the device will automatically move along the track component 2, thereby achieving passive training. This passive training mode is particularly important for patients who have just started rehabilitation or need to reduce the burden on the knee joint, and can help them gradually restore the range of motion and muscle strength of the knee joint.

[0105] S2, start track active training mode

[0106] After completing the passive training mode, enter the track-type active training mode. In this step, first turn off the hand control component 4, and then the multimodal training component 3 is no longer driven by the motor, but is controlled by the user's own strength. The user can push the foot pedal 13 horizontally with his own leg strength, and the movement of the foot pedal drives the multimodal training component 3 to move forward and backward along the track component 2, thereby realizing the active training mode.

[0107] S3, start the autonomous pedaling training mode

[0108] On the basis of the active training mode, the autonomous pedaling training mode is then started. In this mode, the user first moves the pedal 13 outward by his own strength to make the second driving gear 316 mesh with the driving roller 33. Through this meshing method, the movement of the pedal is combined with the movement of the roller of the track assembly, further strengthening the control of the training process. After the meshing, the user can bend the hinge structure 318 to make the first rod segment 311, the second rod segment 312 and the third rod segment 313 perpendicular to each other, forming a stable three-segment hinge structure to meet the needs of autonomous pedaling training.

[0109] Then, the user can stretch the third rod segment 313, and further adjust the length and range of motion of the training device to make it more suitable for the user's leg length and actual needs by stretching the third rod segment 313. On this basis, the user controls the pedal 13 with his foot to perform circular motion similar to riding a bicycle.

[0110] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention; therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the attached claims rather than the above description. Therefore, it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the present invention, and any figure marks in the claims should not be regarded as limiting the claims involved.

[0111] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An orthopedic knee joint rehabilitation training auxiliary device, comprising a wearable leg fixator (1) and a seat assembly (5); characterized in that ； The invention also includes a track component (2), a multimodal training component (3) that cooperates with the track component (2), and a hand control component (4) that electrically controls the multimodal training component (3). The multimodal training component (3) is driven to control the wearable leg fixator (1) to realize an autonomous pedaling training mode, a track-based passive training mode, and a track-based autonomous training mode.

2. The orthopedic knee joint rehabilitation training auxiliary device according to claim 1, characterized in that: The track assembly (2) comprises a support plate (21) and a track body (22) arranged on the support plate (21); the track body (22) is a channel with a guiding function, and two opposite outer surfaces are provided with guiding grooves (221) for cooperating and guiding the forward and backward or upward and downward movement of the multimodal training assembly (3), and an excitation system (222) is arranged inside the track body (22).

3. The orthopedic knee joint rehabilitation training auxiliary device according to claim 2, characterized in that: The motivation system (222) is used to provide visual or auditory feedback when the multimodal training component (3) moves along the track body to a predetermined position, so as to motivate the user to perform rehabilitation training.

4. The orthopedic knee joint rehabilitation training auxiliary device according to claim 1, characterized in that: The wearable leg fixing protector (1) comprises a shell main rod (11), an adjustable fastening belt (12) whose tightness can be adjusted according to the leg size of a child is arranged on the shell main rod (11), and a foot pedal (13) is arranged at the bottom of the shell main rod (11).

5. The orthopedic knee joint rehabilitation training auxiliary device according to claim 3, characterized in that: The multimodal training component (3) comprises a driving rod (31) and a rod sleeve (32). One end of the driving rod (31) is connected to a foot pedal (13), and the rod sleeve (32) is sleeved outside the driving rod (31). The rod sleeve (32) ensures that the driving rod (31) runs smoothly during exercise by slidingly cooperating with the driving rod (31).

6. The orthopedic knee joint rehabilitation training auxiliary device according to claim 5, characterized in that: The multimodal training component (3) further comprises a driving roller (33), which is mounted on the end of the driving rod (31) and cooperates with the guide groove (221) of the track body (22). The driving roller (33) is used to roll on the track body (2), thereby guiding the multimodal training component (3) to move forward and backward or up and down along the track body (2).

7. The auxiliary equipment for knee joint rehabilitation exercise for children's orthopedics according to claim 6, characterized in that: The driving rod (31) comprises a first rod section (311), a second rod section (312) and a third rod section (313) which are hinged in pairs through a hinge structure (318); a fixed shaft (314) is installed at the end of the third rod section (313), a driving motor (317) is arranged inside the fixed shaft (314), and a first driving gear (315) and a second driving gear (316) are sleeved outside the fixed shaft (314).

8. The auxiliary equipment for knee joint rehabilitation exercise for children's orthopedics according to claim 7, characterized in that: The first driving gear (315) is rotationally connected to the fixed shaft (314), the second driving gear (316) is fixedly connected to the fixed shaft (314), and the driving motor (317) drives the first driving gear (315) to rotate.

9. The auxiliary equipment for knee joint rehabilitation exercise for children's orthopedics according to claim 7, characterized in that: The third rod segment (313) is a telescopic structure. The third rod segment (313) comprises a plurality of sleeved segments, and each segment can move relative to other segments along the axial direction of the rod segment to achieve telescoping.

10. The method for operating the auxiliary device for knee joint rehabilitation training for children's orthopedics according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, start track passive training mode The wearable leg fastener (1) is put on the user's legs and the body is fixed on the seat assembly (5); Connecting the foot pedal (13) to the multimodal training component (3); The hand control component (4) controls the driving motor (317) to drive the first driving gear (315) to rotate, thereby driving the multimodal training component (3) to move along the track component (2) to achieve passive training; S2, start track active training mode Turning off the hand control assembly (4); Pushing the foot pedal (13) horizontally drives the multimodal training component (3) to move forward and backward along the track component (2) to achieve an active training mode; S3, start the autonomous pedaling training mode The user moves the foot pedal (13) outward by his own strength, so that the second driving gear (316) is meshed with the driving roller (33); By bending the hinge structure (318), the first rod segment (311), the second rod segment (312) and the third rod segment (313) are made perpendicular to each other; The third rod section (313) is stretched, and the foot pedal (13) is controlled by the foot to perform circular motion, thereby realizing autonomous pedaling training.

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