Hip and ankle joint internal and external rotation training control method and device

Abstract

According to the hip and ankle joint internal and external rotation training control method and device, in the internal and external rotation process, an arc-shaped track can incline forwards due to the fact that a foot exerts forward force, and the arc-shaped track can rebound and reset after the forward force is removed. The active training control method comprises the following steps: enabling an internal and external rotation roller (450) on the back side of a foot bracket (230) to penetrate into a through hole (521) in the top of an internal and external rotation training arc-shaped track (520), and clamping and supporting the roller in the track; the foot of a patient is placed in the foot support, and hip and ankle joints actively rotate inwards and outwards. The power-assisted training control method comprises the steps that the two upper limbs of a patient pull the corresponding inward and outward rotation training pull ropes (530) in turn to drive the rolling wheels to roll left and right in the arc-shaped track in a reciprocating mode, and hip and ankle joints rotate inward and outward; and if the two pull ropes are pulled, the support frame (510) topples forwards, and rebounds and resets when the pull force is removed, so that plantar flexion training is completed. The rehabilitation device is large in foot freedom degree and more comfortable and natural, ankle joints can be plantar flexion and dorsal extension, training can be conducted as early as possible in the lying position, the rehabilitation effect is improved, and the rehabilitation time is shortened.

Description

Technical Field

[0001] The invention relates to a medical device and a rehabilitation training device, and in particular to a hip and ankle joint internal and external rotation training control method and device. Background Art

[0002] With the rapid development of science and technology in today's society, people's living standards have greatly improved. China is also facing the same problems as many countries in the world. Our country is rapidly entering an aging society. Since many patients in the elderly population suffer from neurological diseases or cerebrovascular diseases, the incidence of such diseases in society is increasing every year; among stroke patients, about 70% to 80% will have varying degrees of lower limb movement disorders.

[0003] In recent years, with the rapid development of intelligent rehabilitation technology, lower limb rehabilitation robot technology enables patients with lower limb movement disorders to undergo scientific and effective rehabilitation training and restore their walking ability through repeated training of weight loss and standardized normal physiological gait. However, this training model has been found in clinical practice to have poor efficacy in the recovery of limb function in patients with muscle strength below level 3 or Parkinson's disease. The exoskeleton system is based on the principle of bionics and has a structure close to anatomy. It can realize the organic combination of robotic technology and rehabilitation therapy, assist patients in specific joint training, and improve physical function; however, only 55% of patients who receive rehabilitation treatment recover their walking ability.

[0004] Patients with neurological diseases or cerebrovascular diseases often fall and suffer hip fractures due to abnormal gait, making it difficult to recover lower limb motor function. Hip fracture is also the most common lower limb fracture in the elderly. In order to promote patients' walking ability, surgery is the main method for treating elderly hip fractures, but only 40% to 60% of patients' activity function recovers to the pre-fracture level after surgery. There are no reports on the use of robotic lower limb rehabilitation training for patients after internal fixation of hip fractures in clinical practice.

[0005] In order to better promote the recovery of muscle strength before standing training for patients with lower limb dysfunction, realize the feasibility of lower limb walking training, and then promote the recovery of lower limb walking function, according to literature reports, in order to solve the above problems, experts have designed a training mode for lower limb rehabilitation robots with two degrees of freedom and three compound degrees of freedom. It is a core muscle group training in a lying position. This training program can promote safe and early lower limb rehabilitation training, but there are still defects. The training of lower limb rehabilitation robots with two degrees of freedom is actually a passive hip and knee training mode, which does not take into account the range of motion and training status of the ankle joint itself. Foot training plays a very important role in the rehabilitation training for restoring lower limb function. Although the lower limb rehabilitation robot with three degrees of freedom is designed to meet the rehabilitation exercises of thigh, calf, ankle joints, etc., its driving mode only uses hydraulic drive, without resistance training, which is very difficult to restore the muscle strength of the lower limbs.

[0006] In order to make the lower limb rehabilitation training device produced by research and development be used for patients with lower limb dysfunction caused by nervous system damage or hip fracture, or patients with lower limb dysfunction caused by stroke and hip fracture at the same time, to perform multi-joint, multi-activity, anti-spasm and resistance training of lower limbs, the applicant's application number is CN202210340685.9, and the invention name is "Intelligent Multifunctional Lower Limb Rehabilitation Training All-in-One Machine". An intelligent multifunctional lower limb rehabilitation training all-in-one machine has been designed. However, in further research and development, it was found that the all-in-one machine has the following defects:

[0007] 1) During the internal and external rotation training of the hip and knee joints, the range of motion is small and the degree of freedom is insufficient. During the internal and external rotation training, the ankle cannot plantar flex and can only passively perform internal and external rotation under dorsiflexion, which prevents the muscles from moving in a free and relaxed state. Therefore, it is easy to damage the muscle ligaments and there is a possibility of causing tension in the ankle sensory muscles.

[0008] 2) The angle of the feet is fixed, and it is not possible to use the device to relax the lower limbs by relaxing the feet manually, nor can the device be used for anti-spasmodic operations.

[0009] 3) The feet do not have enough freedom to achieve simulated gait training in the supine position.

[0010] 4) Training can only be performed under power system. In clinical applications, it is found that passive training mode can only be used for a short time, and active training mode is the best way to promote patients to better restore limb function and physical and mental health.

[0011] 5) There is only a single-limb training mode, and multi-limb linkage is not possible. Summary of the invention

[0012] The technical problem to be solved by the present application is to provide a method and device for controlling the internal and external rotation of the hip and ankle joints, which has a large degree of freedom of the foot, is more comfortable, can plantar flex and dorsiflex the ankle and toe joints, and can also perform multiple training methods such as power-assisted or active training as early as possible in a supine position.

[0013] To solve the above technical problems, the present invention provides a hip and ankle joint internal and external rotation training control method, which is characterized in that: the internal and external rotation training arc track can be tilted forward due to the forward force applied by the foot, and can be automatically reset when the forward force is withdrawn, so that the ankle and toe joints have the freedom of front and back plantar flexion and dorsiflexion; the control method includes an active training control method and an auxiliary training control method;

[0014] The active training control method includes: inserting the internal and external rotation roller on the back side of the foot support into the through hole at the top of the internal and external rotation training arc track, and the internal and external rotation roller is clamped and supported in the track; placing the patient's foot in the foot support, and the hip and ankle joint actively performs internal and external rotation movements, which can drive the foot support to rotate internally and externally along the top of the internal and external rotation training arc track;

[0015] The power-assisted training control method comprises: inserting the internal and external rotation rollers on the back side of the foot support into the through holes at the top of the internal and external rotation training arc track, and the internal and external rotation rollers are clamped and supported in the track; the patient's upper limbs pull the corresponding internal and external rotation training pull ropes in turn, and the internal and external rotation training pull ropes drive the internal and external rotation rollers to roll back and forth left and right in the arc track; when the two internal and external rotation training pull ropes are pulled at the same time, the internal and external rotation training arc track and the support frame where they are located will tilt forward, and when the pulling force is removed, the support frame will rebound under the action of the return force of the hydraulic rod and the return spring of the arc track, thereby realizing active plantar flexion training controlled by the pull rope under manual power assistance.

[0016] On this basis, it also includes passive training control: the internal and external rotation rollers on the back side of the foot support are inserted into the through holes at the top of the internal and external rotation training arc track, and the internal and external rotation rollers are clamped and supported in the track; the corresponding third motor is started, and the third motor drives the internal and external rotation rollers to roll back and forth left and right in the arc track.

[0017] At the same time, the present invention also provides a hip and ankle joint internal and external rotation training device, comprising a base, a foot support and a support frame on the back of the foot support, the support frame which can tilt forward and automatically return to its original position under the action of external force is provided with an internal and external rotation training arc track, the top of the internal and external rotation training arc track is provided with a through hole, the bottom of the support plate hinged to the foot support is provided with an internal and external rotation roller which can be detachably inserted into the through hole and rotatably supported on the track; one end of a pair of internal and external rotation training pull ropes are detachably connected to the outer side surface of the head end of the base for the user to pull, and the other end passes through the support frame from bottom to top, connected to drive the internal and external rotation roller to rotate left and right on the internal and external rotation training arc track, thereby pulling the foot support plate to rotate left and right; the ends of each pair of internal and external rotation training pull ropes can be hung on fixed positions or hanging rings on both sides of the head end of the base.

[0018] The middle portion of each internal and external rotation training pull rope passes through the pull rope fixing tubes set on the two side surfaces of the base respectively.

[0019] On both sides of the end of the base, a vertical connecting plate is extended horizontally near the support frame, and the inner side of the support frame can be rotatably connected to the outer side of the vertical connecting plate forward and backward; an arc track is fixedly extended forward from the outer edge of each vertical connecting plate, and the track groove faces upward, and a return spring is built-in at its lowest point; a rigid vertical sliding rod is extended vertically forward from both sides of the support frame, and the outer end head of each vertical sliding rod is limited to slide in the arc track; in the initial state without external force, the support frame is in an upright state, the outer end head of the vertical sliding rod is at the top of the arc track, and the spring is in a free state; when the foot support plate and the support plate are pressed down toward the support frame, the support frame falls forward, and the outer end head of the vertical sliding rod slides down in the arc track, squeezing the return spring; when the plantar flexion force is withdrawn, the restoring force of the return spring prompts the outer end head of the vertical sliding rod to move upward, and the support frame is upright again.

[0020] A hydraulic rod connecting seat is connected to the rear of each vertical connecting plate, and a hydraulic rod extends from the hydraulic rod connecting seat and is connected to the supporting frame.

[0021] The circular track is a quarter of a circle.

[0022] The support frame includes triangular supports on both sides; each triangular support is composed of a telescopic rod, a support rod and a bottom connecting rod; the telescopic rod is located on the inner side, close to the vertical connecting plate, and is rotatably connected to the vertical connecting plate through a rotating shaft; the upper end of the support rod is sleeved outside the telescopic rod to allow it to be telescopic; the bottom connecting rod is fixedly connected between the telescopic rod and the bottom of the support rod; the top end of the telescopic rod is connected to the internal and external rotation training arc track to form a bow-shaped support frame.

[0023] On the outside of each vertical connecting plate, a support frame shell is used to protect the lower part of the arc track, the vertical sliding rod and the telescopic rod; the top and bottom ends of the support frame shell are correspondingly provided with narrow openings for the telescopic rod to swing back and forth; the support rod and the bottom connecting rod are located outside the support frame shell.

[0024] A pair of internal and external rotation training ropes are respectively raised from the narrow openings at the bottom of the supporting frame shell on both sides, and are directly or indirectly connected to the internal and external rotation rollers.

[0025] A tension ring which can be slidably clamped in the track is provided at the through hole of the internal and external rotation training arc track, the internal and external rotation roller is sleeved in the tension ring, and two internal and external rotation training pull ropes are respectively connected to both sides of the tension ring.

[0026] The internal and external rotation training arc track is provided with a roller groove for accommodating the internal and external rotation rollers and a support rail for supporting the operation of the rollers. The through hole faces one side of the support plate and accommodates the internal and external rotation rollers to enter and exit the roller groove. On the side close to the support plate, a tension ring running groove rail parallel to the roller groove is also provided.

[0027] The roller for internal and external rotation has a built-in third motor for automatic internal and external rotation training; an electric control box or a control panel controls the operation of the third motor; the electric control box or the control panel has a display screen and control buttons.

[0028] Compared with the prior art, the beneficial effects of the present invention are mainly: a combination of rigidity and flexibility, an internal and external rotation training rope is added, and the left and right hands can be used to pull the rope in turn to assist the affected limb in internal and external rotation training; when the left and right hands pull the rope at the same time, the foot can also be plantar flexed. The support frame can tilt forward and automatically return to its position under the action of external force, which gives the foot for internal and external training an extra degree of freedom. During training, the ankle and toe joints can be freely plantar flexed and dorsiflexed, which is more relaxed. The ankle joint not only avoids sports injuries, but also increases comfort and improves the rehabilitation effect. The device of the present invention can also provide lower limb relaxation treatment of traditional Chinese medicine manipulation. The device of the present invention is based on the successful experience of the applicant's various manipulation treatments, and integrates multiple functional training modes and multi-joint training modes into one machine. This machine is also small and easy to carry, and is very convenient to operate for medical staff, caregivers, or patients themselves. Moreover, the structure is ingenious and simple, and the cost is low. The present invention also adopts electric control at the same time. When the patient is completely unable to carry out active training or power training, the motor can be started to start rehabilitation training as soon as possible. The device can be used alone or integrated into a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility to become a part of it. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a three-dimensional schematic diagram of the hip and ankle joint internal and external rotation training device of the present invention.

[0030] Figure 2 It is a three-dimensional schematic diagram of the hip and ankle joint internal and external rotation training device of the present invention from another angle.

[0031] Figure 3 The present invention is a cross-sectional schematic diagram of a hip and ankle joint internal and external rotation training device.

[0032] Figure 4 yes Figure 2 Enlarged view of part A.

[0033] Figure 5 It is a three-dimensional schematic diagram of the hip and ankle joint internal and external rotation training device of the present invention after being integrated into a rigid-flexible multifunctional lower limb rehabilitation training device. DETAILED DESCRIPTION

[0034] The technical solutions of the preferred embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0035] For the convenience of description, Figure 1 For reference, referring to the feeling of a person's feet when operating the training device, the movement of the foot toward the electric control box is defined as forward, and the opposite direction is defined as backward.

[0036] like Figure 1-5 As shown, a hip and ankle joint internal and external rotation training control method of the present invention combines multiple control methods organically, including active training control method, power training control method and passive training control method. Regardless of which training control method is used, in the control process of internal and external rotation of the present invention, the internal and external rotation training arc track can naturally tilt forward due to the forward force applied by the foot, and can automatically reset when the forward force is removed.

[0037] The active training control method includes: inserting the internal and external rotation roller 450 on the back side of the foot support 230 into the through hole 521 at the top of the internal and external rotation training arc track 520, and the internal and external rotation roller 450 is clamped and supported in the track; placing the patient's foot in the foot support, and the hip and ankle joint actively perform internal and external rotation movements, which can drive the foot support to rotate internally and externally along the top of the internal and external rotation training arc track 520;

[0038] The power-assisted training control method includes: inserting the internal and external rotation roller 450 on the back side of the foot support 230 into the through hole 521 at the top of the internal and external rotation training arc track 520, and the internal and external rotation roller 450 is clamped and supported in the track; the patient's upper limbs pull the corresponding internal and external rotation training pull rope 530 in turn, and the internal and external rotation training pull rope 530 drives the internal and external rotation roller 450 to roll back and forth in the arc track; when the two internal and external rotation training pull ropes 530 are pulled at the same time, the internal and external rotation training arc track 520 and the support frame 510 where it is located will tilt forward, and when the pulling force is removed, the support frame will rebound under the action of the return of the hydraulic rod 133 and the return spring of the arc track 131, thereby realizing active plantar flexion training controlled by the pull rope under manual power assistance;

[0039] The passive training control method is as follows: insert the internal and external rotation roller 450 on the back side of the foot support 230 into the through hole 521 at the top of the internal and external rotation training arc track 520, and the internal and external rotation roller 450 is clamped and supported in the track; start the corresponding third motor 730, and the third motor 730 drives the internal and external rotation roller 450 to roll back and forth left and right in the arc track.

[0040] like Figure 1-5As shown, the hip and ankle joint internal and external rotation training device using the above control method mainly includes a base 100 and a foot support 230. A support plate 410 is arranged outside the foot support plate 232 of the foot support 230, and the lower end of the support plate 410 is hinged at the heel of the foot support plate 232, and an elastic component 420 is arranged between the upper end of the support plate and the forefoot of the foot support plate 232. The elastic component can be a spring or a hydraulic rod. The device of the present invention also includes a support frame 510 on the back side of the foot support, which is in an upright state in a natural state and can tilt forward and automatically return to its original position under the action of an external force. The support frame is provided with an internal and external rotation training arc track 520, the top of the internal and external rotation training arc track 520 is provided with a through hole 521, and the corresponding position of the bottom plate of the support plate 410 hinged to the foot support is provided with an internal and external rotation roller 450 that can be inserted into the through hole and supported to rotate on the track; one end of a pair of internal and external rotation training pull ropes 530 are respectively detachably connected to the outer side of the head end connector 120 for the user to pull, and the other end is connected from bottom to top through the support frame 510 to drive the internal and external rotation roller 450 to rotate left and right on the internal and external rotation training arc track 520, thereby pulling the foot support plate 232 to rotate left and right, so as to realize the internal and external rotation training of the user's foot. If it is used only for internal and external rotation training, the support frame can be of various types, as long as the upper part is provided with an internal and external rotation training arc track 520 to provide support for the internal and external rotation roller 450 to roll left and right, and the internal and external rotation training pull rope 530 can be directly or indirectly connected to the internal and external rotation roller 450, as long as it can drive it to roll left and right. As a preferred embodiment of this embodiment, a triangular support frame can be used, for example: the support frame 510 includes triangular supports on both sides; each triangular support is composed of a telescopic rod 550, a support rod 560 and a bottom connecting rod 570; the telescopic rod 550 is located on the inner side, close to the vertical connecting plate 130, and is rotatably connected to the vertical connecting plate 130 through a rotating shaft 580; the upper end of the support rod 560 is sleeved on the outside of the telescopic rod 540 to allow its extension and retraction; the bottom connecting rod 560 is fixedly connected between the telescopic rod 550 and the bottom of the support rod 560; the top of the telescopic rod 550 is connected to the internal and external rotation training arc track 520 to form a bow-shaped support frame.

[0041] On both sides of the end of the base 100, near the support frame 510, a vertical connecting plate 130 is extended horizontally, and the inner side of the support frame 510 is connected to the outer side of the vertical connecting plate 130 in a rotatable manner forward and backward, specifically through a rotating shaft 580; from the outer edge of each vertical connecting plate 130, a circular arc track 131 is fixedly extended forward, preferably a quarter arc, with the track groove facing upward, and a return spring (not shown in the figure) is built in at its lowest point; from the telescopic rods 550 on both sides of the support frame 510, a rigid vertical sliding rod 540 is extended vertically forward respectively, and the outer end of each vertical sliding rod is limited to slide in the circular arc track 131 at the corresponding position; in order to hold the support frame more firmly and restore the vertical state of the support frame more forcefully, a hydraulic rod connecting seat 132 is connected to the back of each vertical connecting plate 130, and a hydraulic rod 133 is extended from it to be connected to the telescopic rod 550 of the support frame 510. In the initial state without external force, the support frame is upright, the outer end of the vertical slide bar 540 is at the top of the circular arc track 131, and the spring is in a free state; when the user's foot actively or passively or assistedly steps forward or plantar flexes, the foot support plate 232 and the support plate 410 of the foot bracket 230 are pressed toward the support frame 510, the telescopic rod 550 and the support frame 510 tilt forward, and the outer end of the vertical slide bar 540 slides down in the circular arc track 131, squeezing the reset spring; when the forward or plantar flexion force is removed, the restoring force of the reset spring and the hydraulic rod pushes the outer end of the vertical slide bar 540 upward to reset the support frame 510 to stand upright.

[0042] On the outside of each of the vertical connecting plates 130, a support frame shell 501 is used to protect the lower parts of the circular arc track 131, the vertical sliding rod 540 and the telescopic rod 550; narrow openings are provided at the top and bottom ends of the support frame shell 501 for the telescopic rod 550 to swing back and forth; the support rod 560 and the bottom connecting rod 570 are located outside the support frame shell 501.

[0043] A pair of internal and external rotation training ropes 530 are respectively inserted upward from the narrow openings at the bottom of the support frame housing 501 on both sides to connect the internal and external rotation rollers 450. The connection can be direct or indirect. When the two internal and external rotation training ropes 530 are pulled at the same time, the support frame will tilt forward. When the pulling force is withdrawn, the support frame will rebound under the action of the return force of the hydraulic rod 133 and the return spring of the circular arc track 131, thereby realizing the active plantar flexion and dorsiextension training controlled by the ropes. As a preferred embodiment, a tension ring 525 that can be slidably clamped in the track is provided at the through hole 521 of the internal and external rotation training arc track 520, and the internal and external rotation rollers 450 are sleeved in the tension ring 525. The two internal and external rotation training ropes 530 are respectively connected to the two sides of the tension ring. This belongs to the indirect connection of the internal and external rotation training ropes 530 to drive the internal and external rotation rollers 450. The internal and external rotation training arc track 520 is provided with a roller groove 522 for accommodating the internal and external rotation roller 450 and a support rail 523 for supporting the roller to run. The through hole 521 faces one side of the support plate 410 and accommodates the internal and external rotation roller 450 to enter and exit the roller groove 522. On the side close to the support plate 410, a tension ring running groove 524 parallel to the roller groove 522 is also provided. When the trainer pulls the internal and external rotation training rope 530 with his left hand, the tension ring 525 pulls the internal and external rotation roller 450 to rotate leftward on the internal and external rotation training arc track 520, and the hip joint of the affected leg rotates leftward; when the internal and external rotation training rope 530 is pulled by the right hand, the hip joint of the affected leg rotates rightward; when both hands pull the internal and external rotation training rope 530 at the same time, the support frame tilts forward and then resets, which shows that autonomous internal and external rotation training combined with autonomous plantar flexion and dorsiflexion training is achieved. At the same time, when the sole of the foot exerts force forward, the support frame will tilt forward and rebound, making training more comfortable and free. These structures allow the supine position to simulate a more natural gait, and the training effect is greatly improved. Patients who are still unable to train independently need early and timely training. A third motor 730 is built into the internal and external rotation roller 450 to provide passive training. The device is provided with a control screen or an electric control box 700 is connected to the end of the base to control the third motor. The control screen or control box has a display screen 701 and a control button 702. The display screen 701 can view parameters such as the rotation angle and speed during passive rehabilitation training.

[0044] For ease of use, the ends of a pair of internal and external rotation training ropes 530 can be hung on the fixed positions or hanging rings on both sides of the head end of the base, and the middle parts pass through the rope fixing tubes 160 set on the two sides of the base 100 respectively.

[0045] By using the device of this embodiment, in addition to the aforementioned passive, assisted and autonomous training, lower limb relaxation training can also be performed: keep the left lower limb in an extended position and place the foot in a free position; continue to keep the left lower limb in an extended position, plantar flex the foot support plate, and use the roller 450 for internal and external rotation to be sleeved in the internal and external rotation training arc track 520. The toes of the left foot step downward on the foot support plate with force and quickly at a radius of 5-10° for 1-2 minutes (20-30 times / minute back and forth). Through the rebound force, the ankle joint can achieve rapid dorsiflexion and plantar flexion movement, which can drive the rapid vibration of the front and back muscle groups of the entire lower limb. Through the support frame, the left foot is quickly swung 5-10° to the left and outward for 1-2 minutes (20-30 times / minute back and forth), achieving rapid vibration of the internal and external muscle groups of the left lower limb. These two actions realize the lower limb relaxation treatment of traditional Chinese medicine.

Claims

1. A hip and ankle joint internal and external rotation training control method, characterized in that: The arc track of internal and external rotation training can tilt forward due to the forward force applied by the foot, and can automatically reset when the forward force is removed, so that the ankle-toe joint has the freedom of front and back plantar flexion and dorsiflexion; the control method includes active training control method and power training control method; The active training control method comprises: inserting the internal and external rotation roller (450) on the back side of the foot support (230) into the through hole (521) at the top of the internal and external rotation training arc track (520), and the internal and external rotation roller (450) is clamped and supported in the track; placing the patient's foot in the foot support, and the hip and ankle joint actively perform internal and external rotation movements, thereby driving the foot support to rotate internally and externally along the top of the internal and external rotation training arc track (520); The power-assisted training control method comprises: inserting the internal and external rotation rollers (450) on the outside of the foot support (230) into the through holes (521) at the top of the internal and external rotation training arc track (520), and the internal and external rotation rollers (450) are clamped and supported in the track; the patient's upper limbs pull the corresponding internal and external rotation training pull ropes (530) in turn, and the internal and external rotation training pull ropes (530) drive the internal and external rotation rollers (450) to roll back and forth left and right in the arc track; when the two internal and external rotation training pull ropes (530) are pulled at the same time, the internal and external rotation training arc track (520) and the support frame (510) on which they are located tilt forward, and when the pulling force is removed, the support frame rebounds, thereby realizing active plantar flexion training controlled by the pull ropes under manual power assistance.

2. A hip and ankle joint internal and external rotation training control method according to claim 1, characterized in that: The invention also includes passive training control: inserting the internal and external rotation roller (450) on the back side of the foot support (230) into the through hole (521) at the top of the internal and external rotation training arc track (520), and the internal and external rotation roller (450) is clamped and supported in the track; starting the corresponding third motor (730), and the third motor (730) drives the internal and external rotation roller (450) to roll back and forth left and right in the arc track.

3. A hip and ankle joint internal and external rotation training device using the control method of claim 1, characterized in that: The invention comprises a base (100), a foot support (230) and a support frame (510) on the back side of the foot support. The support frame can tilt forward and automatically return to its original position under the action of external force. There is an internal and external rotation training arc track (520). A through hole (521) is provided at the top of the internal and external rotation training arc track (520). The bottom of the support plate hinged to the bottom of the foot support is provided with an internal and external rotation roller (450) which can be detachably inserted into the through hole and rotatably supported on the track; one end of a pair of internal and external rotation training pull ropes (530) are detachably connected to the outer side surface of the head end of the base (100) for the user to pull, and the other end passes through the support frame (510) from bottom to top, connected to drive the internal and external rotation roller (450) to rotate left and right on the internal and external rotation training arc track (520), thereby pulling the foot support plate (232) to rotate left and right.

4. The hip and ankle joint internal and external rotation training device according to claim 3, characterized in that: The ends of each pair of internal and external rotation training ropes (530) can be hung on fixed positions or hanging rings on both sides of the head end of the base.

5. The hip and ankle joint internal and external rotation training device according to claim 4, characterized in that: The middle portion of each internal and external rotation training pull rope (530) passes through the pull rope fixing tubes (160) set on the two side surfaces of the base (100).

6. The hip and ankle joint internal and external rotation training device according to claim 3, characterized in that: A vertical connecting plate (130) is extended horizontally from both sides of the end of the base (100) near the support frame (510), and the inner side of the support frame (510) is connected to the outer side of the vertical connecting plate (130) in a manner that it can rotate forward and backward; a circular arc track (131) is fixedly extended forward from the outer edge of each vertical connecting plate (130), the track groove faces upward, and a return spring is built into the lowest point; a rigid vertical sliding rod (540) is extended vertically forward from both sides of the support frame (510), and the outer end of each vertical sliding rod is limited to the circular arc track (131). 1) slides in the circular arc track (131); in the initial state without external force, the support frame is in an upright state, the outer end of the vertical slide bar (540) is at the top of the circular arc track (131), and the spring is in a free state; when the foot support plate (232) and the support plate (410) are pressed down toward the support frame (510), the support frame (510) falls forward, and the outer end of the vertical slide bar (540) slides down in the circular arc track (131), squeezing the reset spring; when the plantar flexion force is removed, the restoring force of the reset spring pushes the outer end of the vertical slide bar (540) upward to make the support frame (510) upright again.

7. The hip and ankle joint internal and external rotation training device according to claim 6, characterized in that: A hydraulic rod connection seat (132) is connected to the rear of each vertical connection plate (130), from which a hydraulic rod (133) extends and is connected to the support frame (510).

8. The hip and ankle joint internal and external rotation training device according to claim 6, characterized in that: The circular arc track (131) is a quarter circular arc.

9. The hip and ankle joint internal and external rotation training device according to claim 6, characterized in that: The support frame (510) includes triangular supports on both sides; each triangular support is composed of a telescopic rod (550), a support rod (560) and a bottom connecting rod (570); the telescopic rod (550) is located on the inner side and close to the vertical connecting plate (130), and is rotatably connected to the vertical connecting plate (130) through a rotating shaft (580); the upper end of the support rod (560) is sleeved outside the telescopic rod (540) to allow it to be telescopic; the bottom connecting rod (560) is fixedly connected between the telescopic rod (550) and the bottom of the support rod (560); the top end of the telescopic rod (550) is connected to the internal and external rotation training arc track (520) to form a bow-shaped support frame.

10. The hip and ankle joint internal and external rotation training device according to claim 9, characterized in that: On the outside of each vertical connecting plate (130), a support frame shell (501) is used to protect the lower part of the circular arc track (131), the vertical sliding rod (540) and the telescopic rod (550); the top and bottom ends of the support frame shell (501) are respectively provided with narrow openings for the telescopic rod (550) to swing back and forth; the support rod (560) and the bottom connecting rod (570) are located outside the support frame shell (501).

11. The hip and ankle joint internal and external rotation training device according to claim 10, characterized in that: A pair of internal and external rotation training ropes (530) are respectively extended upward from the narrow openings at the bottom of the support frame shell (501) on both sides, and are directly or indirectly connected to the internal and external rotation rollers (450).

12. The hip and ankle joint internal and external rotation training device according to claim 1 or 11, characterized in that: A tension ring (525) slidably mounted in the track is provided at the through hole (521) of the internal and external rotation training arc track (520); the internal and external rotation roller (450) is sleeved in the tension ring (525); and two internal and external rotation training pull ropes (530) are respectively connected to two sides of the tension ring.

13. The hip and ankle joint internal and external rotation training device according to claim 12, characterized in that: The internal and external rotation training arc track (520) is provided with a roller groove (522) for accommodating the internal and external rotation roller (450) and a support rail (523) for supporting the operation of the roller; the through hole (521) faces one side of the support plate (410) to accommodate the internal and external rotation roller (450) to enter and exit the roller groove (522); on the side close to the support plate (410), a tension ring running groove rail (524) parallel to the roller groove (522) is also provided.

14. The hip and ankle joint internal and external rotation training device according to claim 3, characterized in that: The internal and external rotation roller (450) has a built-in third motor (730) for automatic internal and external rotation training; an electric control box (700) or a control panel controls the operation of the third motor; the electric control box (700) or the control panel has a display screen (701) and control buttons (702).

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