Elbow joint motion range-based four-edge-folded type wrist disruption artificial limb and grinding device thereof

Abstract

The invention discloses an elbow joint motion range-based quadrilateral-folded wrist-dissected artificial limb and a polishing device thereof.The elbow joint motion range-based quadrilateral-folded wrist-dissected artificial limb comprises a first arm sleeve, a second arm sleeve, a connecting rod and an auxiliary rod, the connecting rod comprises a first end and a second end which are opposite, the first end is hinged to the first arm sleeve, and the second end is hinged to the second arm sleeve; the auxiliary rod comprises a third end part and a fourth end part which are opposite to each other, the third end part is hinged to the second end part, the auxiliary rod is further provided with a hinge fulcrum between the third end part and the fourth end part, the hinge fulcrum is hinged to the second arm sleeve, the fourth end part is provided with an auxiliary tool, and the auxiliary tool is hinged to the second arm sleeve. For patients with elbow joint flexion limitation and wrist joint disengagement dysfunction, residual flexion motion of the elbow joint of the patient can be coupled according to the elbow joint flexion condition of the wrist disengagement patient, so that the artificial limb simulates wrist joint flexion motion.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic prostheses, and in particular relates to a wrist amputation prosthesis in the form of a folded quadrilateral based on the range of motion of an elbow joint and a grinding device thereof. Background Art

[0002] The number of patients with wrist amputation is increasing year by year due to traffic accidents, physical illness, natural disasters, accidental work injuries and other reasons. Patients with wrist paraplegia face many difficulties such as difficulty in eating, dressing, weakened body balance and support functions, and even bring serious psychological and physiological burdens to patients and even their families and society.

[0003] Currently, most common wrist disarticulation prostheses are decorative prostheses or powered prostheses. Decorative wrist disarticulation prostheses cannot move at the wrist joint, which is of little help in daily life activities. Powered wrist disarticulation prostheses need to be equipped with power devices such as motors, which have complex structures and heavy weights. At the same time, many patients with wrist disarticulation prostheses also have functional disorders such as elbow flexion. Currently, few wrist disarticulation prostheses have simultaneously coupled elbow and wrist joint dysfunctions, making it difficult to assist patients in daily life activities.

[0004] At the same time, as an important auxiliary device for patients with broken wrists, the design of prostheses must take into account comfort, durability and functionality. In order to reduce weight and improve the patient's wearing experience, manufacturers usually open multiple holes on the arm sleeve, and these holes are generally formed by drilling from the outside to the inside. However, this drilling method will leave a rough surface inside the arm sleeve, including burrs, protrusions and other defects, which will not only reduce the patient's wearing comfort, but may also cause scratches on the skin, affecting the safety and overall quality of the product. To solve this problem, traditional methods usually rely on manual polishing, but this method has many shortcomings. First, manual polishing is inefficient and difficult to meet the needs of large-scale production. Secondly, the quality of manual polishing is difficult to guarantee. Uneven polishing or over-polishing may affect the structural integrity and service life of the upper arm sleeve. Finally, manual polishing requires high skills from workers and has a harsh working environment, which is not conducive to the health of workers.

[0005] Based on this, the applicant considered designing a four-sided wrist amputation prosthesis based on the range of motion of the elbow joint and a grinding device thereof. Summary of the invention

[0006] In view of the above problems, according to one aspect, the present invention provides a wrist amputation prosthesis with a folded four-side structure based on the range of motion of the elbow joint, which overcomes the above problems or at least partially solves the above problems. The technical solution is as follows:

[0007] A four-sided wrist amputation prosthesis based on elbow joint mobility, characterized in that it includes a first arm sleeve, a second arm sleeve, a connecting rod and an auxiliary rod, the connecting rod includes a first end and a second end that are opposite, the first end is hinged on the first arm sleeve, the auxiliary rod is installed to include a third end and a fourth end that are opposite, the third end is hinged to the second end, the auxiliary rod is also provided with a hinge fulcrum between the third end and the fourth end, the hinge fulcrum is hinged on the second arm sleeve, an auxiliary tool is provided on the fourth end, and a plurality of ventilation holes are provided on the first arm sleeve and the second arm sleeve.

[0008] According to another aspect, a grinding device is provided for grinding a four-sided wrist amputation prosthesis based on the range of motion of the elbow joint, comprising a body and a grinding mechanism arranged on the body, the grinding mechanism comprising a driving assembly and a grinding assembly, the driving assembly being used to drive the grinding assembly to extend into or withdraw from the first arm sleeve or the second arm sleeve, and the grinding assembly being used to grind the inner wall of the first arm sleeve or the second arm sleeve.

[0009] Compared with the prior art, the four-sided wrist amputation prosthesis based on the range of motion of the elbow joint of the present invention has the following advantages:

[0010] 1. For patients with limited elbow flexion and wrist dislocation dysfunction, the residual flexion movement of the patient's elbow can be coupled according to the elbow flexion of the patient's wrist dislocation, so as to realize the prosthesis simulating the wrist flexion movement, and the first adjustment hole and the second adjustment hole are respectively opened on the first arm cuff and the second arm cuff to adjust the change of the rod length of the folding quadrilateral mechanism, so as to realize the adjustment of the coupling between the simulated wrist flexion movement of the actuator and the residual flexion movement of the elbow, so as to focus on the comfort and applicability of the patient during the use of the prosthesis.

[0011] 2. When the angles of the patient's upper arm and forearm change (i.e. the elbow joint flexes or extends), due to the principle of the folding quadrilateral mechanism, the auxiliary rod will rotate accordingly. This rotation can be converted into the movement of the fourth end of the auxiliary rod and the auxiliary device, thereby assisting the patient to complete various self-care activities.

[0012] The above-mentioned four-sided folded wrist disarticulation prosthesis based on the range of motion of the elbow joint has the advantages of simple structure and easy implementation, is suitable for installation and use in the current wrist disarticulation prosthesis patients, and has a low cost of use, which can improve benefits.

[0013] Compared with the prior art, the grinding device of the present invention has the following advantages:

[0014] By setting up the driving component and the grinding component, the grinding component can enter the inner surface of the arm cuff to be polished under the drive of the driving component. The device can achieve fine grinding of the inner wall of the arm cuff, remove burrs and protrusions, and make the inner surface of the arm cuff smooth and flat for patients to wear. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the wrist amputation prosthesis of the present invention;

[0016] Figure 2 for Figure 1 A schematic diagram of a structure in which the second arm sleeve extends forward to be nearly coaxial with the first arm sleeve;

[0017] Figure 3 for Figure 1 A schematic diagram of a structure in which the second arm sleeve is bent upward to be perpendicular to the first arm sleeve;

[0018] Figure 4 for Figure 1 Schematic diagram of the length and angle changes of the first arm sleeve, the second arm sleeve, the connecting rod and the auxiliary rod;

[0019] Figure 5 It is a schematic diagram of the overall structure of the grinding device of the present invention;

[0020] Figure 6 It is a schematic diagram of the structure of the driving component and the grinding component;

[0021] Figure 7 This is a schematic diagram of the structure after the polished component shrinks;

[0022] Figure 8 This is a schematic diagram of the structure after the polishing component is expanded.

[0023] Description of Reference Numerals

[0024] 100 first arm sleeve, 110 first adjustment hole;

[0025] 200 second arm sleeve, 210 second adjustment hole, 220 avoidance gap;

[0026] 300 connecting rod;

[0027] 400 auxiliary rod, 410 auxiliary tool, 420 hinged fulcrum;

[0028] 500 ventilation holes;

[0029] 600 center shaft;

[0030] 710 first sleeve, 720 second sleeve, 730 sliding sleeve, 740 elastic member;

[0031] 810 first connecting rod, 820 second connecting rod, 830 third connecting rod, 840 mounting bar, 850 grinding knife;

[0032] 910 slide plate, 920 guide rail, 930 first cylinder, 940 second cylinder, 950 clamping cylinder, 960 body, 970 clamping cylinder. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0034] When implementing: Figure 1-4 As shown, a four-sided wrist amputation prosthesis based on elbow joint mobility includes a first arm cuff 100, a second arm cuff 200, a connecting rod 300 and an auxiliary rod 400, wherein the connecting rod 300 includes a first end and a second end relative to each other, the first end is hinged on the first arm cuff 100, the auxiliary rod 400 includes a third end and a fourth end relative to each other, the third end is hinged to the second end, the auxiliary rod 400 is further provided with a hinge fulcrum 420 between the third end and the fourth end, the hinge fulcrum 420 is hinged on the second arm cuff 200, an auxiliary tool 410 is provided on the fourth end, and a plurality of ventilation holes 500 are provided on both the first arm cuff 100 and the second arm cuff 200.

[0035] Compared with the prior art, the four-sided wrist amputation prosthesis based on the range of motion of the elbow joint of the present invention has the following advantages:

[0036] 1. For patients with limited elbow flexion and wrist dislocation dysfunction, the residual flexion movement of the patient's elbow can be coupled according to the elbow flexion of the patient's wrist dislocation, so as to realize the prosthesis simulating the wrist flexion movement, and the first adjustment hole 110 and the second adjustment hole 210 are respectively opened on the first arm cuff 100 and the second arm cuff 200 to adjust the change of the rod length of the folding quadrilateral mechanism, so as to realize the adjustment of the coupling between the simulated wrist flexion movement of the actuator and the residual flexion movement of the elbow, so as to pay attention to the comfort and applicability of the patient in the process of using the prosthesis.

[0037] 2. When the angles of the patient's upper arm and forearm change (i.e., the elbow joint flexes or extends), due to the principle of the folding quadrilateral mechanism, the auxiliary rod 400 will rotate accordingly. This rotation can be converted into the movement of the fourth end of the auxiliary rod 400 and the auxiliary device 410, thereby assisting the patient to complete various self-care activities.

[0038] The above-mentioned four-sided folded wrist disarticulation prosthesis based on the range of motion of the elbow joint has the advantages of simple structure and easy implementation, is suitable for installation and use in the current wrist disarticulation prosthesis patients, and has a low cost of use, which can improve benefits.

[0039] During implementation, the first arm cuff 100 is connected to the upper arm of the human body, and the second arm cuff 200 is connected to the forearm of the human body.

[0040] In this embodiment, Figure 1-4 As shown, when a folding angle is generated between the first arm cuff 100 and the second arm cuff 200, the first arm cuff 100, the second arm cuff 200, the connecting rod 300 and the auxiliary rod 400 can jointly form a folding quadrilateral mechanism, at which time the first arm cuff 100 and the auxiliary rod 400 are arranged opposite to each other, and the second arm cuff 200 and the connecting rod 300 are arranged crosswise.

[0041] During implementation, the included angle between the first arm sleeve 100 and the second arm sleeve 200 is a first angle, and the included angle between the second arm sleeve 200 and the auxiliary rod 400 is a second angle. The first angle and the second angle are in a preset angular relationship. When the first angle changes, the second angle will also change.

[0042] At the same time, the length of the first arm sleeve 100 is d, the length of the second arm sleeve 200 is a, the length of the connecting rod 300 is b, the length from the hinge point of the connecting rod 300 and the auxiliary rod 400 to the hinge point of the auxiliary rod 400 and the second arm sleeve 200 is c, the first angle is φ(t), and the second angle is θ(t).

[0043] It should be noted that the present invention adopts "a preset angle relationship" for limitation because the specific elbow flexion conditions of different patients or the length of the connecting rod 300 are different, that is, the elbow flexion condition between the forearm and the upper arm or the length of the connecting rod 300 needs to be limited according to the actual situation, and according to the essential spirit of the invention, a person skilled in the art can derive the angular relationship between the first angle and the second angle according to the elbow flexion condition or the length of the connecting rod 300 through a limited number of experiments.

[0044] In this way, when the patient bends the elbow joint, the forearm rotates relative to the first arm cuff 100, and this rotational movement is transmitted to the auxiliary rod 400 through the connecting piece. Since the auxiliary rod 400 and the second arm cuff 200 are hinged, the auxiliary rod 400 will rotate relative to the second arm cuff 200. This rotation is performed along the axis of the hinge point, so that the fourth end of the auxiliary rod 400 can point to different directions or positions. As the degree of flexion of the elbow joint increases, the rotation angle of the auxiliary rod 400 relative to the second arm cuff 200 will also increase accordingly. This rotation can be converted into linear motion or rotational motion of the fourth end of the auxiliary rod 400, thereby allowing the patient to use the auxiliary rod 400 to perform various tasks, such as grasping objects, operating tools, etc.

[0045] In this embodiment, Figure 1-4 As shown, the first end of the connecting rod 300 is hinged on the outer side of the first arm sleeve 100 , and the hinge fulcrum 420 is hinged on the outer side of the second arm sleeve 200 .

[0046] In this way, the connecting rod 300 and the auxiliary rod 400 do not interfere with the wearing and combination between the first arm cuff 100 and the second arm cuff 200 and the human arm, and the structure is simple and easy to wear.

[0047] In this embodiment, Figure 1-4 As shown, a plurality of first adjustment holes 110 are provided on the outer surface of the first arm sleeve 100 . The plurality of first adjustment holes 110 are arranged in sequence and spaced apart along the length direction of the first arm sleeve 100 , and the first end portion is hinged to any one of the first adjustment holes 110 .

[0048] In this way, by setting up multiple first adjustment holes 110, the first arm cuff 100 has multiple hinge points, which has better adjustability. The first end of the connecting rod 300 can freely select the hinge position with the first arm cuff 100, which has better adaptability to the human body.

[0049] In this embodiment, Figure 1-4 As shown, a plurality of second adjustment holes 210 are provided on the outer surface of the second arm sleeve 200 , and the plurality of second adjustment holes 210 are arranged in sequence and spaced apart along the length direction of the second arm sleeve 200 , and the hinge fulcrum 420 is hinged to any one of the second adjustment holes 210 .

[0050] In this way, by providing multiple second adjustment holes 210, the second arm sleeve 200 has multiple hinge points, which is more adjustable, and by providing multiple first adjustment holes 110 and second adjustment holes 210, the patient can select the most suitable first adjustment hole 110 and second adjustment hole 210 for adjustment according to the length and shape of his or her upper arm or forearm, thereby optimizing the range of motion and accuracy of the auxiliary rod 400. Since the size and shape of each person's upper arm and forearm are different, the design of the first adjustment hole 110 and the second adjustment hole 210 enables the prosthesis to adapt to the individual needs of different users, thereby ensuring the wide applicability and user satisfaction of the prosthesis.

[0051] At the same time, the first adjustment hole 110 and the second adjustment hole 210 are not only used to connect with the connecting rod 300, but also enable the connecting rod 300 to be easily removed from the first arm cuff 100 and the second arm cuff 200. The first end and the second end of the connecting rod 300 are rotatably hinged to the first adjustment hole 110 and the second adjustment hole 210 respectively through a screw nut. When necessary, the patient can easily remove or install the connecting rod 300 from the first arm cuff 100 and the second arm cuff 200, thereby facilitating cleaning, maintenance or adjustment.

[0052] In this embodiment, Figure 1-4 As shown, the auxiliary tool 410 includes one or more of a spoon, a fork, and a hook.

[0053] In this way, the addition of the auxiliary device 410 expands the practical functions of the prosthesis. Tableware such as spoons and forks enable patients to eat independently and improve their ability to take care of themselves. The picking hook makes it easier for patients to grab and move objects, and can be better operated to adapt to the daily life and work needs of patients.

[0054] Of course, it is understandable that the spoon, fork, and pick-up hook in the above application scenarios are only used for exemplary explanations and cannot be understood as a limitation on the application scenarios of the embodiments of the present disclosure. They can also be applied to scenarios such as installing a toothbrush for brushing teeth, and the present invention does not limit them.

[0055] During implementation, a mounting groove is provided on the fourth end portion of the auxiliary rod 400 , and the mounting groove is used to mount the auxiliary tool 410 .

[0056] In this embodiment, Figure 1-4 As shown, a plurality of ventilation holes 500 are provided on the first arm sleeve 100 and the second arm sleeve 200 .

[0057] In this way, the design of the air holes 500 allows air to circulate, reducing the stuffiness and discomfort caused by long-term wearing, and can effectively reduce the temperature and humidity of the skin surface, thereby improving the patient's comfort. The design of the air holes 500 helps to reduce the accumulation of sweat between the skin and the first arm cuff 100 and the second arm cuff 200, thereby reducing the risk of skin problems. At the same time, the design of the air holes 500 can also reduce the weight of the first arm cuff 100 and the second arm cuff 200, thereby improving comfort.

[0058] In this embodiment, Figure 1-4 As shown, at least one avoidance gap 220 is provided on one end of the second arm cover 200 close to the first arm cover 100 .

[0059] In this way, the design of the avoidance gap 220 can reduce the use of materials without sacrificing functionality, while allowing the elbow joint to bend and stretch freely during movement without being hindered by the second arm cuff 200, allowing the patient to use the prosthesis more naturally to perform various movements, improving the flexibility and practicality of the prosthesis, and better adapting to the natural shape and movement patterns of the elbow joint.

[0060] The design of the prosthesis makes full use of the natural movement characteristics of the human elbow joint, allowing patients to control the movement of the actuator in an intuitive and natural way, allowing patients to complete various tasks in daily life, such as eating, washing, etc., more easily. It also helps to reduce patients' learning costs and improve their operating efficiency. At the same time, the present invention adopts a folding quadrilateral mechanism and a detachable connection design. The prosthesis has a lighter weight and higher flexibility, which helps to reduce the burden on patients, improve their comfort, and allow them to use the prosthesis in a wider range. It has a compact structure and strong practicality.

[0061] In this embodiment, Figure 4-8 As shown, a grinding device is used to grind the four-sided wrist amputation prosthesis based on the range of motion of the elbow joint, including a body 960 and a grinding mechanism arranged on the body 960, the grinding mechanism includes a driving component and a grinding component, the driving component is used to drive the grinding component to extend into or withdraw from the first arm sleeve 100 or the second arm sleeve 200, and the grinding component is used to grind the inner wall of the first arm sleeve 100 or the second arm sleeve 200.

[0062] In this way, by setting up the driving component and the grinding component, the grinding component can enter the inner surface of the arm cuff to be polished under the drive of the driving component. The device can achieve fine grinding of the inner wall of the arm cuff, remove burrs and protrusions, and make the inner surface of the arm cuff smooth and flat for patients to wear.

[0063] In this embodiment, Figure 4-8 As shown, the grinding assembly includes a central axis rod 600, a sleeve and a grinding unit, the sleeve is mounted on the central axis rod 600, the grinding unit is mounted on the sleeve, and the grinding unit can expand outward or contract inward along the radial direction of the central axis rod 600;

[0064] The sleeve member includes a first sleeve 710, a second sleeve 720 and a sliding sleeve 730. The first sleeve 710 and the second sleeve 720 are fixed on the central axis 600. The sliding sleeve 730 is arranged between the first sleeve 710 and the second sleeve 720 and can slide on the central axis 600 along the axis of the central axis 600. An elastic member 740 is sleeved on the central axis 600. The two ends of the elastic member 740 are respectively connected to the first sleeve 710 and the sliding sleeve 730. The elastic member 740 has a tendency to drive the sliding sleeve 730 to approach the first sleeve 710.

[0065] During implementation, the elastic member 740 is a tension spring and is in a tension state during operation.

[0066] The number of the grinding units is at least two, and the grinding unit includes a mounting bar 840, a first connecting rod 810, a second connecting rod 820, and a third connecting rod 830, one end of the first connecting rod 810 is hinged to the first sleeve 710, the other end of the first connecting rod 810 is hinged to one end of the mounting bar 840, one end of the second connecting rod 820 is hinged to the second sleeve 720, the other end of the second connecting rod 820 is hinged to the other end of the mounting bar 840, and the first connecting rod 810 and the second connecting rod 820 are parallel to each other, one end of the third connecting rod 830 is hinged to the sliding sleeve 730, and the other end of the third connecting rod 830 is hinged to the middle position of the second connecting rod 820;

[0067] A grinding knife 850 is arranged on the outer side of the mounting strip 840 . The blade line of the grinding knife 850 is in an S-shaped structure, and a plurality of teeth are formed on the blade line of the grinding knife 850 . The plurality of teeth are arranged in sequence along the length direction of the blade line of the grinding knife 850 .

[0068] In this way, by setting the central axis rod 600, the sleeve and the grinding unit, the grinding unit can expand outward and contract inward along the radial direction of the central axis rod 600, and the blade line of the grinding knife 850 is an S-shaped structure. By driving the grinding knife 850 back and forth along the axial direction, the grinding efficiency of the grinding knife 850 is further improved.

[0069] In the initial state, due to the action of the elastic member 740 (tension spring), the sliding sleeve 730 will be close to the first sleeve 710. At this time, the mounting bar 840 and the grinding knife 850 thereon will be in a relatively compact state, which is convenient for entering the first arm sleeve 100 or the second arm sleeve 200 for grinding. When the middle axis rod 600 starts to rotate, the first connecting rod 810 and the second connecting rod 820 will swing accordingly, and at the same time, the mounting bar 840 and the grinding knife 850 thereon will expand outward along the radial direction of the middle axis rod 600 due to the action of centrifugal force. During the expansion process, the grinding knife 850 will fit tightly against the inner wall of the arm sleeve and perform continuous grinding action as the middle axis rod 600 rotates.

[0070] The driving assembly drives the grinding piece to rotate while also driving the grinding piece to move toward the inside of the first arm sleeve 100 or the second arm sleeve 200. The S-shaped grinding knife 850 can produce a certain turbulence effect during the grinding process, which is more in line with aerodynamics, and helps to reduce vibration and noise during the grinding process to a certain extent, thereby improving the stability of the grinding process.

[0071] A slide plate 910, a guide rail 920, a first cylinder 930, a second cylinder 940 and a clamping cylinder 950 are provided on the body 960. The slide plate 910 is slidably connected to the guide rail 920. The first cylinder 930 is connected to the slide plate 910 to drive the slide plate 910 and the grinding assembly thereon to slide on the guide rail 920. The first cylinder 930 is used to drive the first arm sleeve 100 or the second arm sleeve 200 to be ground from the previous station to the next station in sequence to form an assembly line operation. The second cylinder 940 is installed on the slide plate 910. The piston end of the second cylinder 940 is connected to the clamping cylinder 950. The second cylinder 940 is used to drive the clamping cylinder 950 to rise or fall. The clamping cylinder 950 is used to clamp the first arm sleeve 100 or the second arm sleeve 200 firmly during grinding.

[0072] During implementation, a clamping cylinder 970 is also provided above the grinding assembly.

[0073] The driving assembly includes a motor, the central axis rod 600 is coaxially connected to the rotating shaft of the motor, and the motor is used to drive the central axis rod 600 to rotate.

[0074] The above are only preferred implementations of the present invention. It should be pointed out that a number of modifications and improved technical solutions made by those skilled in the art without departing from the technical solution should also be deemed to fall within the scope of protection required by the claims.

Claims

1. A wrist disarticulation prosthesis with four-sided folding based on the range of motion of the elbow joint, characterized by: It includes a first arm sleeve, a second arm sleeve, a connecting rod and an auxiliary rod, the connecting rod includes a first end and a second end relative to each other, the first end is hinged on the first arm sleeve, the auxiliary rod includes a third end and a fourth end relative to each other, the third end is hinged to the second end, the auxiliary rod is further provided with a hinge fulcrum between the third end and the fourth end, the hinge fulcrum is hinged on the second arm sleeve, an auxiliary tool is provided on the fourth end, and a plurality of ventilation holes are provided on the first arm sleeve and the second arm sleeve.

2. The four-sided wrist amputation prosthesis based on elbow joint mobility according to claim 1, characterized in that: When a folding angle is generated between the first arm sleeve and the second arm sleeve, the first arm sleeve, the second arm sleeve, the connecting rod and the auxiliary rod can jointly form a folding quadrilateral mechanism, in which case the first arm sleeve and the auxiliary rod are arranged opposite to each other, and the second arm sleeve and the connecting rod are arranged crosswise.

3. The four-sided wrist amputation prosthesis based on elbow joint mobility according to claim 1, characterized in that: The first end of the connecting rod is hinged on the outer side of the first arm sleeve, and the hinge fulcrum is hinged on the outer side of the second arm sleeve.

4. The four-sided wrist amputation prosthesis based on elbow joint mobility according to claim 3, characterized in that: A plurality of first adjustment holes are provided on the outer side surface of the first arm sleeve, and the plurality of first adjustment holes are arranged in sequence and at intervals along the length direction of the first arm sleeve, and the first end portion is hinged to any one of the first adjustment holes.

5. The four-sided wrist amputation prosthesis based on elbow joint mobility according to claim 3, characterized in that: A plurality of second adjustment holes are provided on the outer side surface of the second arm sleeve, and the plurality of second adjustment holes are arranged in sequence and at intervals along the length direction of the second arm sleeve, and the hinge fulcrum is hinged to any one of the second adjustment holes.

6. The four-sided wrist amputation prosthesis based on elbow joint mobility according to claim 1, characterized in that: The auxiliary tool includes one or more of a spoon, a fork, and a hook.

7. The four-sided wrist amputation prosthesis based on elbow joint mobility according to claim 1, characterized in that: At least one avoidance gap is arranged on one end of the second arm sleeve close to the first arm sleeve.

8. A grinding device for grinding the four-sided wrist amputation prosthesis based on elbow joint mobility as claimed in claim 1, characterized in that: It includes a body and a grinding mechanism arranged on the body, the grinding mechanism includes a driving component and a grinding component, the driving component is used to drive the grinding component to extend into or withdraw from the first arm sleeve or the second arm sleeve, and the grinding component is used to grind the inner wall of the first arm sleeve or the second arm sleeve.

9. A grinding device according to claim 8, characterized in that: The grinding assembly comprises a central axis rod, a sleeve and a grinding unit, wherein the sleeve is mounted on the central axis rod, and the grinding unit is mounted on the sleeve, and the grinding unit can expand outward or contract inward along the radial direction of the central axis rod; The sleeve member includes a first sleeve, a second sleeve and a sliding sleeve. The first sleeve and the second sleeve are fixed on the central shaft. The sliding sleeve is arranged between the first sleeve and the second sleeve and can slide on the central shaft along the axis of the central shaft. An elastic member is sleeved on the central shaft. Two ends of the elastic member are respectively connected to the first sleeve and the sliding sleeve. The elastic member has a tendency to drive the sliding sleeve to approach the first sleeve. The number of the grinding units is at least two, and the grinding unit includes a mounting bar, a first connecting rod, a second connecting rod and a third connecting rod, one end of the first connecting rod is hinged to the first sleeve, the other end of the first connecting rod is hinged to one end of the mounting bar, one end of the second connecting rod is hinged to the second sleeve, the other end of the second connecting rod is hinged to the other end of the mounting bar, and the first connecting rod and the second connecting rod are parallel to each other, one end of the third connecting rod is hinged to the sliding sleeve, and the other end of the third connecting rod is hinged to the middle position of the second connecting rod; A grinding knife is arranged on the outer side of the mounting strip, the blade line of the grinding knife is in an S-shaped structure, and a plurality of teeth are formed on the blade line of the grinding knife, and the plurality of teeth are arranged in sequence along the length direction of the blade line of the grinding knife.

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