Lower limb flexion and extension training device

Abstract

A lower limb flexion and extension training device comprises a base (100), a flexion and extension support (200), a hip and knee joint flexion and extension autonomous training control mechanism (300) and an ankle joint dorsal extension and plantar flexion training mechanism (400). The bending and stretching support is provided with bending and stretching hand pull ropes (310), pedal plates (320) and pedal pull ropes (330), the two bending and stretching hand pull ropes (310) are pulled towards a connector (120) at the head end of the base at the same time, the bending and stretching support can be bent, the pedal pull ropes (330) can be pulled by stepping on any pedal plate, and the bending and stretching support can be straightened again. A supporting plate (410) hinged to the foot supporting plate (232) is arranged outside the foot supporting plate (232) of the foot support (230), and an elastic component (420) is arranged between the front soles of the foot supporting plate (232) and the foot support (230). The degree of freedom of the feet is large, the ankle joints can stretch back and plantar while the hip and knee joints bend and stretch, anti-spasm exercise can be achieved, gait training simulation, assistance, initiative and other modes can be integrated, and early rehabilitation of a patient is effectively promoted.

Description

Technical Field

[0001] The invention relates to a medical device, in particular to a lower limb flexion and extension training 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 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) 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.

[0008] 2) There is only a single-limb training mode, and multi-limb linkage is not possible.

[0009] 3) The foot support has a small range of motion and insufficient freedom. The ankle cannot plantar flex during flexion and extension training. The muscles are somewhat stiff and cannot move in a free and relaxed state, so it is easy to damage the muscles and ligaments, and there is a possibility of causing sensory tension in the ankle joint.

[0010] 4) 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.

[0011] 5) The feet do not have enough freedom to perform simulated gait training in the supine position. Summary of the invention

[0012] The technical problem to be solved by the present invention is to provide a lower limb flexion and extension training device that has a large degree of freedom of the foot, can perform plantar flexion and anti-spasm exercises while flexing and extending, and can better simulate gait training in an integrated manner, such as assisted and active methods, so as to effectively promote the early recovery of patients.

[0013] To solve the above technical problems, the present invention provides a lower limb flexion and extension training device, comprising a base and a flexion and extension bracket; the base body is a linear guide rail, the linear guide rail has a head end connector, and a linear groove is provided on the linear guide rail along the length direction; the flexion and extension bracket is composed of a thigh bracket, a calf bracket and a foot bracket that are rotatably connected in sequence; the outer end of the thigh bracket is rotatably connected to the head end connector, and the bottom end of the foot bracket is connected to a flexion and extension roller, and the flexion and extension roller can reciprocate on the linear groove to achieve reciprocating flexion and extension of the flexion and extension bracket above the base; it is characterized in that it also includes a hip and knee joint flexion and extension autonomous training control mechanism and an ankle joint dorsiflexion and plantar flexion training mechanism;

[0014] The hip and knee joint flexion and extension autonomous training control mechanism comprises: a flexion and extension hand rope, a foot pedal and a foot pedal rope; the flexion and extension hand ropes are respectively located at two sides of the base, one end of each flexion and extension hand rope is detachably connected to the outer side of the head end connector, and the other end is connected to the bottom of the foot support, and the two flexion and extension hand ropes are simultaneously pulled toward the head end connector of the base to allow the flexion and extension support to bend; the foot pedal is a pair of slidably connected to both sides of the middle of the linear guide rail, and stepping on any foot pedal can pull the foot pedal rope to allow the flexion and extension support to be straightened again;

[0015] The ankle dorsiflexion and plantar flexion training mechanism comprises: a support plate is provided outside the foot support plate of the foot support, the lower end of the support plate is hinged at the heel of the foot support plate, and an elastic component is provided between the upper end of the support plate and the forefoot of the foot support plate, when the user's foot repeatedly steps on and releases the foot support plate, the elastic component can be compressed and released to perform ankle dorsiflexion and plantar flexion training;

[0016] A pair of foot pedals are fixedly connected to the middle part below the linear guide rail via a fixed connection block therebetween; a pair of fixed pulleys arranged side by side are arranged in the fixed connection block; the head end of each foot pedal pull rope is fixedly connected to the outer end of a foot pedal, then sleeved in the fixed pulley, then respectively passed through a groove of a double-groove fixed pulley, and finally fixedly connected to the rotating shaft of the flexion and extension roller; the double-groove fixed pulley is fixedly connected to the empty groove in the end of the linear guide rail;

[0017] The foot pedal is rotatably and foldably connected to the fixed connection block, so that the foot pedal can be opened and closed, folded and attached to the accommodating groove in the linear guide rail.

[0018] A retractable resistance mechanism is provided along at least one side surface of each of the linear grooves, including a resistance surface facing the linear groove, the resistance surface is attached to a base plate, and a push rod that can realize the retractable function by pressing passes through the linear guide rail from the side and is connected to the base plate. Pressing the push rod can push the resistance surface and its base plate to move inward, rubbing against the flexion and extension roller, thereby increasing the resistance of active flexion and extension training; pressing the push rod again can release the friction between the resistance surface and the flexion and extension roller.

[0019] The flexion and extension hand pull ropes, one on each side of the base, are connected to the inside of the linear guide rail and combined into one rope, and the ends are connected to the bottom end of the foot support.

[0020] The ends of a pair of the flexion and extension hand ropes can be hung on the fixed positions or hanging rings on both sides of the head end connector of the base.

[0021] The head end connecting head is also provided with a hook, which is used to fix the flexion and extension hand rope when the calf is flexed to a certain extent, so as to perform calf raising training.

[0022] The heel of the foot support plate and the calf support connecting rod of the calf support are rotatably connected through a foot hinge axis; in an initial state, the connection between the two is limited to a state of -5° dorsiflexion of the foot support plate; this dorsiflexion angle limit can be maintained or loosened during use.

[0023] A pen-like pressing structure is used to achieve the releasable function: when the pressing column is pressed, it passes through the calf support connecting rod and extends into the foot hinge shaft, the two are stuck to form an initial state; when the pressing column is pressed again, it will rebound and disengage from the foot hinge shaft, and only stay in the calf support connecting rod, thereby releasing the foot support plate from the -5° dorsiflexion state.

[0024] A second degree rotating wheel with degree markings and a second parallel pointer are provided on the outer side of the calf support connecting rod hinged to the foot support plate to display the rotation angle of the foot support plate.

[0025] A pressure sensor is provided in the heel area of ​​the foot support plate. The pressure sensor is electrically connected to a pressure display screen, and the pressure display screen is exposed on the side of the foot support plate.

[0026] The main body of the foot support plate is a foot-shaped hollow metal plate, which is covered with a foot memory foam pad and is provided with a detachable instep restraint strap. The heel is connected to a heel support with a memory foam pad; the foot memory foam pad is also equipped with a replaceable opening and closing pressure plate.

[0027] An encapsulation shell is used between the foot support plate and the support plate to encapsulate the elastic component.

[0028] The elastic component is a spring or a hydraulic rod.

[0029] It also includes a control panel or an electric control box connected to the end of the linear guide rail, the control box has a built-in power supply or can be connected to a power supply, and is provided with a control display screen and control buttons; the wire interface extending from the electric control box is electrically connected to the circuit connector at the hollow part below the linear guide rail; the electric control box is plugged into the plug interface on the linear guide rail through a plug column.

[0030] The two foot hinge shafts are respectively built with second motors for automatic dorsiextension and plantar flexion training, and the two second motors are synchronously controlled by a control panel or the electric control box.

[0031] The flexion and extension roller is built with a first motor for automatic flexion and extension training, which is controlled by a control panel or the electric control box.

[0032] Compared with the prior art, the beneficial effects of the present invention are mainly:

[0033] 1. Combining rigidity and flexibility, the device adds hand ropes, foot pedals and foot ropes for flexion and extension training, which can carry out active training by double-limb linkage, three-limb linkage and four-limb linkage, greatly improving the flexion and extension training effect.

[0034] 2. The present invention uses an elastic component to support the outside of the foot support, and the heel can be rotatably connected. The foot will not be fixed at a certain angle, but can change angle and rebound with stepping, which increases the freedom of the foot. During flexion and extension training, the ankle joint can be freely dorsiflexed and plantar flexed, and the ankle joint is more relaxed, which not only avoids sports injuries, but also greatly improves the training effect. It is also in line with the ankle pump training mode for preventing deep vein thrombosis of the lower limbs. Many elderly people have poor compliance in doing ankle pump training independently after knee surgery. This machine can be used instead of active training, which can also achieve the effect of preventing deep vein thrombosis of the lower limbs.

[0035] And by using the rebound assistance of this structure, the whole lower limb muscle relaxation exercise can be easily achieved. This method realizes the relaxation training of the five meridians of traditional Chinese medicine, making the patient feel comfortable and relaxing the lower limb muscles. Because it is also a meridian therapy, it can dredge the meridians and smooth the blood circulation, further effectively preventing deep vein thrombosis in the lower limbs. In clinical practice, it is found that assisting patients with lower limb overall exercise in the supine position through manipulation can promote the rapid recovery of muscle strength and muscle tension.

[0036] 3. The device of the present invention can imitate the movement of the hip, knee, ankle and toe joints of the human body when walking, and realize a walking training mode in a supine position. Avoid the lower limb robot movement in the prior art, which forces patients with lower limb muscle strength below level 3 (i.e., through the three major machine structures of the suspension device, exoskeleton bracket, and walking device) to stand. This training mode only emphasizes the imitation of normal functional training of the human body, ignores the pathological state of lower limb dysfunction, and does not pay enough attention to the various techniques training modes for the lower limbs. Practice has shown that it does not enable patients with muscle strength below level 3 to achieve lower limb function rehabilitation. However, through the imitation walking training mode in the supine position of the present invention, the applicant has enabled two patients with high paraplegia with muscle strength of level 1 or below to achieve standing and walking functions in a short-term trial experiment.

[0037] 4. The device of the present invention is convenient for anti-spasm treatment, especially in the further optimized technical solution, the design of -5° dorsiflexion of the foot in the initial state is adopted, which is very convenient for anti-spasm training, and the unlocking of the initial state is very convenient.

[0038] 5. The device of the present invention can pull the flexion and extension rope until the hip and knee joints are flexed to a certain angle and height, and then fix the rope to maintain the body position for lower limb lifting training.

[0039] 6. The device of the present invention is based on the successful experience of the applicant in various manual treatments, and integrates various functional training modes, multi-joint training, and the mode of imitating human walking into one device. This device is also small and easy to carry, and is very convenient to operate for medical staff, caregivers, and patients themselves. Moreover, the structure is ingenious and simple, and the cost is low.

[0040] 8. In a further technical solution, the present invention also adopts electric control at the same time. When the patient is completely unable to perform active training or assisted training, the motor can be started to start rehabilitation training as soon as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a three-dimensional schematic diagram of the rigid-flexible multifunctional lower limb rehabilitation training device of the present invention.

[0042] Figure 2 It is a three-dimensional schematic diagram from another angle of the rigid-flexible multifunctional lower limb rehabilitation training device of the present invention.

[0043] Figure 3 It is a three-dimensional schematic diagram of the base of the multifunctional lower limb rehabilitation training device integrating rigidity and flexibility of the present invention.

[0044] Figure 4 The present invention is a schematic diagram of the foot pedal and the direction of the pull rope of the multifunctional lower limb rehabilitation training device that combines rigidity and flexibility.

[0045] Figure 5 It is a partial cross-sectional schematic diagram of the front end of the multifunctional lower limb rehabilitation training device integrating rigidity and flexibility of the present invention.

[0046] Figure 6 It is a partially enlarged stereoscopic schematic diagram of the front end of the rigid-flexible multifunctional lower limb rehabilitation training device of the present invention from another angle.

[0047] Figure 7 It is a three-dimensional schematic diagram of the calf support at the connection between the rigid-flexible multifunctional lower limb rehabilitation training device and the foot support of the present invention.

[0048] Figure 8 It is a partial cross-sectional schematic diagram of the connection between the calf support and the foot support of the multifunctional lower limb rehabilitation training device integrating rigidity and flexibility of the present invention.

[0049] Fig. 9 It is a structural schematic diagram of the flexion and extension roller of the present invention installed with a first motor.

[0050] Fig.10 It is a structural schematic diagram of a second motor for plantar flexion and dorsiflexion installed at the foot support plate of the present invention. DETAILED DESCRIPTION

[0051] The technical solutions of the preferred embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0052] For the convenience of description, Figure 1For reference, the end of the device with the thigh support is defined as the head end, and the end with the electric control box and the foot support is defined as the end end; when describing the direction of movement, reference is made to the feeling of a person's legs when operating the training device. Movement of the foot toward the electric control box is defined as forward, and movement of the foot toward the thigh is defined as backward.

[0053] like Figure 1-10 As shown, the lower limb flexion and extension training device of the present invention mainly includes a base 100, a flexion and extension bracket 200, a hip and knee joint flexion and extension autonomous training control mechanism 300, and an ankle joint dorsiflexion and plantar flexion training mechanism 400.

[0054] like Figure 1-3 As shown, the base 100 is composed of a linear guide rail 110 and a head end connector 120, and the flexion and extension bracket 200 is composed of a thigh bracket 210, a calf bracket 220 and a foot bracket 230 that are rotatably connected in sequence. The thigh bracket is hinged at the end to the head end connector 120, and the flexion and extension roller 231 under the foot bracket is supported in the linear groove 111 on the upper surface of the linear guide rail 110, so that the entire flexion and extension bracket 200 is supported above the base. The base also carries, supports and accommodates the above-mentioned various training mechanisms. This is the basic structure of the device.

[0055] The flexion and extension training of the hip and knee joints is to support the affected limb on the flexion and extension bracket, apply force to the flexion and extension roller 231, so that it reciprocates in the linear groove 111, thereby driving the flexion and extension bracket 200 to flex and extend repeatedly, and the hip and knee joints are flexed and extended. The flexion and extension roller 231 can be built-in with the first motor 710, such as Fig. 9 As shown, when the patient's hands and feet have no strength to flex and extend the hip and knee joints by themselves, passive flexion and extension training is performed. In order to better restore the patient, the device is provided with a hip and knee joint flexion and extension autonomous training control mechanism 300 based on the background technology. The most important parts of this mechanism include: a flexion and extension hand pull rope 310, a foot pedal 320 and a foot pedal pull rope 330. The flexion and extension hand pull rope 310 is located on each side of the base, one end of each flexion and extension hand pull rope is detachably connected to the outer side surface of the head end connector 120, and the other end is connected to the bottom of the foot bracket. The outer side surface of the head end connector 120 is specially reserved with a fixed position or a hanging ring for the flexion and extension hand pull rope 310 to be detachably connected. As a preferred mode, the two flexion and extension hand pull ropes 310 on both sides of the head end connector 120 of the base can also be directly inserted into the interior of the linear guide 110 from the side surface of the head end connector, and combined into one rope, and the end is connected to the bottom end of the foot bracket. The patient pulls the two flexion and extension hand ropes 310 with his left and right hands at the same time, and the flexion and extension support can be flexed. Figure 1 , Figure 2 and Figure 4As shown, the linear guide 110 is hollow, and a long accommodating groove 150 is provided on each of the two side surfaces in the middle. The foot pedals 320 are a pair, located at the accommodating grooves 150 on both sides of the middle part of the linear guide 110. A fixed connection block 321 is rotatably connected between the two foot pedals 320, and the fixed connection block 321 is fixedly connected to the middle part of the inner part of the linear guide; a pair of fixed pulleys 3211 are arranged side by side in the fixed connection block, and the head end of each of the pedal pull ropes 330 is fixedly connected to the outer end of a foot pedal 320, and then sleeved in the fixed pulley, and then respectively pass around a groove of a double-groove fixed pulley 322, and finally fixedly connected to the rotating shaft of the flexion and extension roller 231; the double-groove fixed pulley 322 is fixedly connected to the empty groove in the end of the linear guide 110 (as shown in FIG. Figure 5 Thus, by stepping on any one of the pedals, the pedal pull rope 330 can be pulled to move the flexion and extension roller 231 forward (i.e., toward the end of the linear guide rail 110), and the flexion and extension bracket is straightened again. Figure 4 As shown. Each footrest 320 is retractable in length, and has a limit position in front of the footrest, and can only be rotated forward to open, and rotated backward to be folded and stored, so that the footrest can be folded at the accommodating groove 150 on the side of the linear guide 110 when not in use, and a switch door 151 can be set to close it. When a footrest is needed, the switch door 151 is opened, and the footrest is rotated and pulled out. The switch door is preferably a sliding door, which is hidden in the hollow inside the linear guide when it is pulled open.

[0056] Due to the setting of the above-mentioned hip and knee joint flexion and extension autonomous training control mechanism 300, when using the above-mentioned device for flexion and extension training, single limb training, double lower limb linkage, or three limb linkage, or four limb linkage can be achieved. If the patient needs to train only one lower limb, and the affected limb has the strength to perform autonomous flexion and extension on the flexion and extension bracket, the foot pedal and the flexion and extension hand rope can be omitted; if the affected limb cannot complete the flexion and extension training autonomously, the flexion and extension hand rope 310 can be removed, and the flexion and extension hand rope can be pulled with one or both hands to assist the flexion and extension bracket to carry the affected limb and flex it, and then the other healthy foot steps on the foot pedal to straighten the flexion and extension bracket forward. Repeat this process.

[0057] When the patient is relatively strong and needs a relatively strong training, the resistance mechanism on the side of the linear groove 111 can be used to increase the friction force when the flexion and extension roller 231 is running. Figure 1-3As shown, the resistance mechanism is arranged along the side of the linear groove 111, and can be arranged only on one side of a linear groove, or on both sides, or on both sides of the two linear grooves 111. The resistance mechanism is mainly facing the resistance surface 140 in the linear groove. The resistance surface is attached to a substrate. The substrate is relatively hard and rigid. The push rod 141 passes through the linear guide 110 from the side and is connected to the substrate, so that the telescopic function can be achieved by pressing. When the push rod 141 is pressed, the resistance surface and its substrate will be pushed inward to the set position, rubbing against the flexion and extension roller 231, increasing the resistance of active flexion and extension training; pressing the push rod 141 again, the push rod will withdraw, the resistance surface will retreat, and the friction with the flexion and extension roller 231 will be released. The push rod structure can be arranged according to the conventional prior art.

[0058] A hook 125 is also provided on the side of the head end connector 120 to fix the rope that is pulled to a certain extent and needs to be positioned. For example, the flexion and extension hand rope pulls the flexion and extension bracket to bend up to a suitable angle or height, and then the flexion and extension hand rope is hung on the hook 125 and tied up for a certain period of time, and calf raising training can be performed.

[0059] The ankle dorsiextension and plantar flexion training mechanism 400 of the present invention is, at its most basic, to allow the heel to swing back and forth and to set an elastic component on the sole of the foot. A further preferred solution is that dorsiextension and plantar flexion movements can be performed while training the internal and external rotation of the hip and ankle joints. The movements are natural and flexible, and combined with the aforementioned flexion and extension movements, it is a walking gait in a supine position.

[0060] like Figure 1 , Figure 2 , Figure 5-8 , Fig.10 As shown, the most basic structure of the ankle dorsiflexion and plantar flexion training mechanism 400 includes: a support plate 410 is arranged outside the foot support plate 232 of the foot bracket 230, 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. In this embodiment, 9 hydraulic rods are preferably used in a circular distribution, and an encapsulation shell 421 is used between the foot support plate 232 and the support plate 410 to encapsulate the elastic component 420. In the initial natural state, the hydraulic rod is stretched. Due to the setting of the elastic component at the bottom of the foot support plate, the foot has room for movement after being placed in the foot support plate, and can be freely and dynamically adjusted according to the required degree of activity of the ankle joint. Comfortable adjustment. When the user's foot repeatedly steps on and releases the foot support plate, the elastic component can be compressed and released to perform ankle dorsiflexion and plantar flexion training. Due to the restoring force of the elastic component, the training is easier to perform.

[0061] The heel of the foot support plate 232 is rotatably connected to the calf support connecting rod 223 of the calf support 220 through the foot hinge shaft 430. Figure 7 , Figure 8 , Fig.10 As shown; in the initial state, the connection between the two is limited to the state of -5° dorsiflexion of the foot support. This dorsiflexion angle limitation can be maintained or loosened during use, and a pen-like pressing structure is used to achieve the releasable function: when the pressing column 440 is pressed, it passes through the calf support connecting rod 223 and extends into the foot hinge shaft 430, the two are stuck to form the initial state of -5° dorsiflexion of the foot support; when the pressing column 440 is pressed again, it will rebound and escape from the foot hinge shaft 430, and only stay in the calf support connecting rod 223, thereby loosening the state of -5° dorsiflexion of the foot support. Fixing the foot support in the state of -5° dorsiflexion can resist spasms. When the patient has lower limb contracture or lower limb spasm, passive training is still needed. The foot support plate can be fixed at the dorsiflexion -5° (adjusting this degree needs to ensure that there is no fracture and soft tissue damage in the ankle joint). At this time, the first motor 710 built into the flexion and extension roller 231 can be started to passively perform hip and knee flexion and extension training for 5-10 minutes. This training method can promote the lengthening of contracted muscles and relieve lower limb spasm. When it is used as power training, the first motor 710 stops. If the patient has no lower limb spasm, press the push column 440 to release the dorsiflexion -5° position of the foot support plate, so that the ankle joint is in a free and comfortable state for training after the foot is placed in the foot support plate.

[0062] like Figure 1 , 2 As shown in FIGS. 6 and 5, the main body of the foot support plate 232 is a foot-shaped hollow metal plate, which is covered with a foot memory foam pad 2327, provided with a detachable instep strap 2328, and a heel support 2329 with a memory foam pad connected to the heel; it is equipped with an openable pressure plate 23271 to facilitate the installation and replacement of the foot memory foam pad 2327. The heel area of ​​the foot support plate 232 is provided with a pressure sensor 233, which can be placed under the foot memory foam pad 2327, and the pressure sensor is electrically connected to a pressure display screen 234, which is exposed on the side of the foot support plate.

[0063] For those who are unable to actively perform dorsiflexion and plantar flexion training, the present invention has a second motor 720 built into the two hinge shafts 430 connected to the two calf support connecting rods 223 of the calf support 220 at the heel of the foot support plate 232, such as Fig.10 As shown, the two second motors are synchronously controlled to rotate forward and reversely to perform passive dorsiflexion and plantar flexion training.

[0064] The preferred embodiment of the base and the flexion-extension bracket of the present invention is further described, which is basically similar to the background technology.

[0065] The head end connector 120 of the base is composed of a T-shaped plug-in slot 122 in the middle and two nearly L-shaped plug-in parts 123; the main plug-in slot of the T-shaped plug-in slot 122 is sleeved outside the linear guide 110, and one of the plug-in parts 123 is respectively plugged in on both sides. The plug-in depth is adjusted by pressing the depth adjustment button 124, and then the width of the head end connector 120 is adjusted. The ends of the two telescopic rods at the bottom of the thigh support are connected to the top through holes of the two plug-in parts 123 through a rotating shaft. By pressing the depth adjustment button 124, the spacing between the two telescopic rods at the bottom can be adjusted to adapt to different leg circumferences. The linear guide is hollow inside, and grooves are opened on the upper surface, side surfaces and front to accommodate or connect other components. Two parallel linear grooves 111 are provided on the upper surface of the linear guide rail along the length direction. The flexion and extension roller 231 connected to the bottom end of the foot bracket is I-shaped and is received in the linear groove 111. It can reciprocate back and forth, thereby realizing the reciprocating flexion and extension of the flexion and extension bracket above the base.

[0066] like Figure 1-2 As shown, the thigh support 210 and the calf support 220 each have four retractable rods arranged roughly in a matrix, forming a channel for accommodating the thighs and calves along the direction of the retractable rods; a left-right retractable sheet is connected between the two retractable rods at the bottom, and the outside of the left-right retractable sheet is wrapped with a flexible cloth-like material 212, which can be fabric, or plastic or leather. When the spacing between the two retractable rods at the bottom is adjusted, the retractable sheet can be adaptively retracted, and the main function of the left-right retractable sheet is to support the thigh and prevent it from sagging; if each retractable rod is divided into two retractable sections, the flexible cloth-like material 212 can be divided into two pieces, one piece is connected to the front section of the retractable rod, and the other piece is connected to the rear section of the retractable rod, so that the retraction of the retractable rod will not be affected by the flexible cloth-like material; an elastic binding strap 213 is connected between the two retractable rods at the top; the upper and lower retractable rods are connected by a vertical support rod 214. The thigh support and the calf support are rotatably connected via a chuck 241 that can limit the upper limit of the rotation angle and a first degree rotating wheel 242 with a rotation degree mark. A first parallel pointer 243 is provided on the outer side of the first degree rotating wheel with a degree mark. When the flexion and extension support 200 flexes and extends, the rotation angle can be indicated. This structure is the same as the background technology.

[0067] For more information on the connection between the calf support and the foot support, please refer to Figure 8 , 9 The foot support plate 232 is connected to the connecting rod 223 of the two calf supports through a foot hinge shaft 430 arranged on the foot support plate, which can limit the rotation degree range. A second degree rotating wheel 2324 with degree markings is also provided on the outside of each calf support connecting rod 223, and a second parallel pointer 2325 is also provided on the outside of the second degree rotating wheel 2324, which can display the rotation angle of the foot support plate.

[0068] Taking the left lower limb as an example, the working process of the lower limb flexion and extension training device of the present invention is as follows:

[0069] Step 1: Preparation stage: The patient lies flat on his back, and the training device is placed parallel to the patient's affected limb. The affected limb is placed into the device according to the position of the thigh, calf, and foot, and the device is adjusted according to the size and length of the affected limb.

[0070] Step 2: Hip and knee flexion and extension training When performing passive training, operate the electrical control box to start the corresponding first motor 710, so that the patient's hip and knee joints can be trained with the flexion and extension bracket. This method is suitable for passive exercise without help, when the patient is performing passive training 6 hours after lower limb surgery or 24 hours after the condition of stroke or paraplegia has stabilized.

[0071] When the patient has lower limb contracture or lower limb spasm, passive training is still required. The foot support plate of the ankle joint training device can be fixed at the dorsiflexion position of -5° (to adjust this degree, ensure that there is no fracture or soft tissue injury in the ankle joint), and then turn on the corresponding motor to perform hip and knee flexion and extension training for 5-10 minutes (this training method can promote the lengthening of contracted muscles and relieve lower limb spasm).

[0072] Active training is the most recommended training program for rehabilitation training. When performing the power training mode, the motor is not turned on. If there is no lower limb spasm, there is no need to emphasize the fixed dorsiflexion position of -5° on the foot support. After the foot is placed in the foot support, the ankle joint is in a free and comfortable state. The two healthy upper limbs pull the flexion and extension hand rope 310 in the centripetal direction, so that the device can flex the lower limbs under the drive of the rope; instruct the patient to push the foot support with the left lower limb (if the patient has undergone lower limb fracture surgery, the force should be applied according to the degree of pain and muscle tightness to avoid excessive force that may cause internal bone fixation displacement or wound rupture). If the strength of the affected limb cannot change the device from the flexed state to the extended state, the right lower limb should step on the foot pedal 320, and both lower limbs should push in the toe direction with appropriate force to promote Straighten the left lower limb. If the ankle joint is in a free position, the force of the foot will promote the joint movement of the hip, knee, ankle and toe joints when it is straightened. This movement pattern also imitates the range of motion of the four joints of the human body when walking. Due to the elastic component setting of the support plate at the bottom of the foot support and the return setting of the support frame, the ankle and toe joints can move together during the flexion and extension of the hip and knee joints. When the hip and knee joints are flexed, the rebound device of the support frame promotes dorsiflexion of the ankle and toe joints. When the hip and knee joints are straightened, each toe of the foot gently presses the elastic component on the sole of the foot support to promote plantar flexion of the ankle and toe joints. Therefore, this movement pattern is also called gait training in supine position or lower limb core muscle training.

[0073] Step 3: Ankle dorsiflexion and plantar flexion training Release the foot support plate to dorsiflex -5°, keep the left lower limb in an extended position, and place the foot in a free position. When it is used as a passive training, operate the electric control box, start the corresponding second motor 720, and the left lower limb ankle joint performs passive dorsiflexion and plantar flexion training as the foot support plate rotates with the dorsiflexion and plantar flexion. When it is used as a power training, stop the motor operation and change to manual autonomous training. At this time, the patient can step on the foot support plate with the healthy right foot to plantar flex the left ankle joint. After the healthy right foot releases the foot support plate, the elastic component 234 at the bottom of the sole of the foot support plate, and the return spring of the support frame and the rebound force of the hydraulic rod 133 are used to promote the dorsiflexion training of the left ankle joint. When used as active training, the elastic component 234 of the foot support plate, the return spring of the support frame and the rebound force of the hydraulic rod 133 keep the left ankle joint in the dorsiflexion state. At this time, only a small amount of force is needed to press the foot support plate with each toe to achieve plantar flexion training of the ankle-toe joint. When the toes are relaxed and no force is applied, the dorsiflexion training of the ankle-toe joint is promoted due to the rebound effect.

[0074] Step 4: Calf raising training, instruct the patient to pull the flexion and extension hand rope 310 upwards with both healthy upper limbs to make the flexion and extension bracket 200 bend the knee (30-60°), and wrap the rope around the hook 125 on the side of the first end connector 120 of the base; fix the rope, instruct the patient to straighten the knee joint (active knee extension movement can be performed with muscle strength of level 2 or above), that is, to achieve calf raising training. This training program can quickly restore muscle strength to level 3.

[0075] The lower limb flexion and extension training device of the present invention can be an independent equipment, and can also be integrated with the ankle joint internal and external rotation autonomous training mechanism and the hip joint adduction and abduction autonomous training mechanism to become a fully functional multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility.

Claims

1. A lower limb flexion and extension training device, comprising a base (100) and a flexion and extension bracket (200); the main body of the base (100) is a linear guide rail (110), the linear guide rail has a head end connector (120), and a linear groove (111) is provided on the linear guide rail along the length direction; the flexion and extension bracket (200) is composed of a thigh bracket (210), a calf bracket (220) and a foot bracket (230) which are rotatably connected in sequence; the outer end of the thigh bracket (210) is rotatably connected to the head end connector (120), and the bottom end of the foot bracket (230) is connected to a flexion and extension roller (231), and the flexion and extension roller (231) can reciprocate on the linear groove (111) to realize the reciprocating flexion and extension of the flexion and extension bracket above the base; characterized in that It also includes a hip and knee joint flexion and extension autonomous training control mechanism (300) and an ankle joint dorsiflexion and plantar flexion training mechanism (400); The hip and knee joint flexion and extension autonomous training control mechanism (300) comprises: a flexion and extension hand rope (310), a foot pedal (320) and a foot pedal rope (330); the flexion and extension hand rope (310) is located at each side of the base, one end of each flexion and extension hand rope is detachably connected to the outer side surface of the head end connector (120), and the other end is connected to the bottom of the foot support, and the two flexion and extension hand ropes (310) are pulled toward the head end connector (120) of the base at the same time to allow the flexion and extension support to flex; the foot pedal (320) is a pair of slidably connected to both sides of the middle part of the linear guide rail (110), and stepping on any one of the foot pedals can pull the foot pedal rope (330) to allow the flexion and extension support to straighten again; The ankle dorsiflexion and plantar flexion training mechanism (400) comprises: a support plate (410) is provided outside the foot support plate (232) of the foot bracket (230), 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 provided between the upper end of the support plate and the forefoot of the foot support plate (232), when the user's foot repeatedly steps on and releases the foot support plate, the elastic component can be compressed and released to perform ankle dorsiflexion and plantar flexion training.

2. The lower limb flexion and extension training device according to claim 1, characterized in that: A pair of foot pedals (320) are fixedly connected to the middle part below the linear guide rail via a fixed connection block (321) therebetween; a pair of fixed pulleys arranged side by side are arranged in the fixed connection block; the head end of each foot pedal pull rope is fixedly connected to the outer end of a foot pedal (320), then sleeved in the fixed pulley, and then respectively passed through a groove of a double-groove fixed pulley (322), and finally fixedly connected to the rotating shaft of the flexion and extension roller (231); the double-groove fixed pulley (322) is fixedly connected to the empty groove in the end of the linear guide rail (110).

3. The lower limb flexion and extension training device according to claim 2, characterized in that: The foot pedal (320) is rotatably and foldably connected to the fixed connection block (321), so that the foot pedal can be opened and closed, folded, and attached to the accommodating groove (150) in the linear guide rail (110).

4. The lower limb flexion and extension training device according to claim 1, characterized in that: A retractable resistance mechanism is provided along at least one side surface of each linear groove (111), including a resistance surface (140) facing the linear groove, the resistance surface being attached to a base plate, and a push rod (141) which can realize a retractable function by pressing passes through the linear guide rail (110) from the side and is connected to the base plate, and pressing the push rod (141) can push the resistance surface and its base plate to move inward, rubbing against the flexion and extension roller (231), thereby increasing the resistance of active flexion and extension training; pressing the push rod (141) again can release the friction between the resistance surface and the flexion and extension roller (231).

5. The lower limb flexion and extension training device according to claim 1, characterized in that: The two flexing and extending hand-pulling ropes (310) on both sides of the base are connected to the inside of the linear guide rail and combined into one rope, and the ends are connected to the bottom end of the foot support.

6. The lower limb flexion and extension training device according to claim 1, characterized in that: The ends of a pair of flexion and extension hand ropes (310) can be hung on fixed positions or hanging rings on both sides of the head end connector (120) of the base.

7. The lower limb flexion and extension training device according to claim 1, characterized in that: The head end connector (120) is also provided with a hook (125) for fixing the flexion and extension hand rope (310) when the calf is flexed to a certain extent, so as to perform calf raising training.

8. The lower limb flexion and extension training device according to claim 1, characterized in that: The heel of the foot support plate (232) is rotatably connected to the calf support connecting rod (223) of the calf support (220) via a foot hinge shaft (430); in an initial state, the connection between the two is limited to a state where the foot support plate is dorsiflexed at -5°; this dorsiflexion angle limit can be maintained or loosened during use.

9. The lower limb flexion and extension training device according to claim 8, characterized in that: A pen-like pressing structure is used to realize the releasable function: when the pressing column (440) is pressed, it passes through the calf support connecting rod (223) and extends into the foot hinge shaft (430), the two are stuck to form an initial state; when the pressing column (440) is pressed again, it will rebound and disengage from the foot hinge shaft (430) and only stay in the calf support connecting rod (223), thereby releasing the foot support plate from the -5° dorsiflexion state.

10. The lower limb flexion and extension training device according to claim 1, characterized in that: A second degree rotating wheel (2324) with degree markings and a second parallel pointer (2325) are provided on the outer side of the calf support connecting rod (223) hinged to the foot support plate (232) to display the rotation angle of the foot support plate.

11. The lower limb flexion and extension training device according to claim 1, characterized in that: A pressure sensor (233) is provided in the heel area of ​​the foot support plate (232), and the pressure sensor is electrically connected to a pressure display screen (234), and the pressure display screen is exposed on the side of the foot support plate.

12. The lower limb flexion and extension training device according to claim 1, characterized in that: The main body of the foot support plate (232) is a foot-shaped hollow metal plate, which is covered with a foot memory foam pad (2327), is provided with a detachable instep strap (2328), and is connected to a heel support (2329) with a memory foam pad at the heel; the foot memory foam pad (2327) is also equipped with a replaceable openable and closable pressure plate (23271).

13. The lower limb flexion and extension training device according to claim 1, characterized in that: A packaging shell (421) is used between the foot support plate (232) and the support plate (410) to package the elastic component (420).

14. The lower limb flexion and extension training device according to claim 1, characterized in that: The elastic component (420) is a spring or a hydraulic rod.

15. The lower limb flexion and extension training device according to claim 1 or 8, characterized in that: It also includes a control panel or an electric control box (700) connected to the end of the linear guide rail (110); the control box has a built-in power supply or can be connected to a power supply, and is provided with a control display screen (701) and control buttons (702); a wire interface (703) extending from the electric control box is electrically connected to a circuit connector (113) at the lower hollow portion of the linear guide rail (110); and the electric control box (700) is plugged into the plug interface (112) on the linear guide rail (110) via a plug post (704).

16. The lower limb flexion and extension training device according to claim 15, characterized in that: The two foot hinge shafts (430) are respectively built with second motors (720) for automatic dorsiflexion and plantar flexion training, and the two second motors are synchronously controlled by a control panel or the electric control box.

17. The lower limb flexion and extension training device according to claim 15, characterized in that: The flexion and extension roller (231) has a built-in first motor (710) for automatic flexion and extension training, which is controlled by a control panel or the electric control box.

Images