Ankle joint multi-dimensional rehabilitation training device

Abstract

The invention discloses an ankle joint multi-dimensional rehabilitation training device in the technical field of rehabilitation training.The ankle joint multi-dimensional rehabilitation training device is characterized in that a myoelectricity sensor is arranged on the front side face of a backup plate and can detect myoelectricity signals of the front side, the rear side and the outer side of an ankle joint in real time, and four telescopic rods are vertically installed on a bottom plate and distributed in a rectangular shape; the front side and the rear side are each provided with a guide rail, foot limiting mechanisms are erected on the guide rails, the feet can be driven to conduct passive training through electric control telescopic rods, and whether active impedance training is conducted on muscles of a patient or not can be monitored while training is conducted; according to the device, programs can be set for automatic control, multi-dimensional training activities of ankle joints of a patient can be helped, the feet of the patient can be carried through lifting of the telescopic rods for passive rehabilitation training, the feet can be bound through the elastic bands to generate impedance, the patient can be actively trained, the structure is simple, and operation is convenient. Usage is convenient and flexible.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation training, and in particular to a multi-dimensional rehabilitation training device for ankle joints. Background Art

[0002] Patients with ankle injuries need to complete ankle dorsiflexion / plantar flexion and inversion / eversion functional exercises during early functional training to help patients move their muscles and ankle joints, avoiding long-term stiffness that causes limited movement and muscle atrophy.

[0003] After the ankle joint is injured and treatment is completed, rehabilitation training is needed. Because the ankle joint itself is still in a damaged state, active resistance training is not allowed in the early stages of rehabilitation. Only passive training can be performed. That is, the doctor needs to perform auxiliary activities on the patient's foot according to the range of motion of the bones, generally pushing the foot to perform dorsiflexion, plantar flexion, inversion, eversion, and left and right translation along the ankle joint.

[0004] Generally, a doctor has a limited workload in a day, while a large number of patients are waiting for the doctor's assistance. Not only are doctors prone to fatigue, but long-term fatigue working conditions also make it easy for them to make mistakes. When there are many patients, the average treatment time allocated to doctors is also limited, which is not conducive to sufficient rehabilitation training for patients.

[0005] There are some auxiliary devices for rehabilitation training at present, but they can basically only perform dorsiflexion and plantar flexion activities. The activities are single and cannot meet the actual needs of rehabilitation training. Moreover, the equipment is generally large and costly, which is not conducive to patients' self-use at home.

[0006] Based on this, the present invention designs a multi-dimensional rehabilitation training device for ankle joint to solve the above problems. Summary of the invention

[0007] The purpose of the present invention is to provide a multi-dimensional rehabilitation training device for ankle joints. The device can be programmed for automatic control and can help patients perform multi-dimensional training activities on their ankle joints. It can not only carry the patient's foot for passive rehabilitation training by lifting and lowering a telescopic rod, but can also bind the foot with an elastic band to generate impedance, thereby increasing active training methods in the later stages of rehabilitation. During training, it can monitor whether the patient's muscles have undergone active impedance training. The device has a simple structure and is convenient and flexible to use.

[0008] The present invention is implemented as follows: a multi-dimensional ankle joint rehabilitation training device, comprising:

[0009] Base plate, telescopic rod, foot limit mechanism, myoelectric sensor and data terminal;

[0010] The bottom plate is a stable flat plate, and a backing plate is vertically arranged at the rear end of the bottom plate;

[0011] A myoelectric sensor is arranged on the front side of the backboard, and the myoelectric sensor is electrically connected to the data terminal;

[0012] A slide groove is provided on the bottom plate in the front-to-back direction, and two bottom frames are slidably arranged in the slide groove, and two telescopic rods are vertically installed at the left and right ends of the top of each bottom frame, and a guide rail is horizontally arranged on the top of the two telescopic rods on the same bottom frame, and the guide rail is arranged in the left-right direction, and the upper end of each telescopic rod is rotatably connected to the guide rail through a rotating shaft;

[0013] A foot limiting mechanism is slidably arranged on the top of each guide rail along the left and right directions;

[0014] The foot limiting mechanism includes a positioning ring frame, a slide seat and an elastic band. The slide seat is a flat plate, the positioning ring frame is a long strip structure, a positioning ring frame is fixedly arranged on the left and right sides of the top of the slide seat, and the upper end of the positioning ring frame extends above the slide seat. The elastic band is an elastic belt-shaped structure.

[0015] A card slot is provided on the top of each positioning ring frame, and a card block is protruded at both ends of each elastic band. The two ends of the elastic band are stably and removably connected to the card slots on the top of the positioning ring frames on both sides through the card blocks. The positioning ring frames on the left and right sides are connected to form a complete ring structure through an elastic band.

[0016] Each telescopic rod is data-connected to the same controller; a linear motor is arranged on the top of the guide rail, and the slide seat is driven and slid on the top of the guide rail by the linear motor, and the linear motor on the guide rail is also electrically connected to the controller.

[0017] Furthermore, a silicone anti-skid pad is laid on the bottom of the base plate;

[0018] The linear motor at the top of the guide rail is a servo motor;

[0019] The guide rail and the telescopic rod on the same base frame are on the same vertical plane, and the vertical planes where the guide rails on the front and rear base frames are located are parallel to each other.

[0020] Furthermore, the base frame is horizontally arranged along the left-right direction; a screw rod is set in the slide groove along the front-back direction, the base frame is installed on the screw rod, and the base frame is translated in the slide groove along the front-back direction through the screw rod.

[0021] Furthermore, the positioning ring frame is an arc-shaped strip, the slot provided on the upper end surface of the positioning ring frame is a dovetail slot, the blocks protruding at both ends of the elastic band are dovetail slot sliders, the slot of the positioning ring frame and the elastic band block are interference fit, and the elastic band is installed and connected with the left and right positioning ring frames on the top of the same slide seat;

[0022] The elastic band has a plurality of replacement pieces of different lengths;

[0023] A soft pad is also arranged on the top of the slide seat, and the soft pad is a silicone cushion pad.

[0024] Furthermore, the telescopic rods are electrically controlled telescopic rods, and each of the telescopic rods is perpendicular to the plane where the base plate is located.

[0025] The beneficial effects of the present invention are as follows: 1. The present invention forms a structure of multiple rods with independent telescopic control by adding telescopic rods to the bottom plate, and can independently control the lifting and lowering of each telescopic rod, thereby achieving the purpose of lifting and lowering control of the guide rail, further helping the patient to perform dorsiflexion, plantar flexion, inversion and eversion operations, so that the patient can perform passive rehabilitation training without exerting muscle force by himself;

[0026] 2. The device also adds a linear motor on the guide rail, which can control the foot limit mechanism to move horizontally in the left and right directions, thereby driving the patient's foot to move horizontally in the left and right directions, completing the translation training of the foot swinging left and right, and the whole process is passive, which provides help for the patient in the early stage of rehabilitation. In addition, the device adds an electromyographic sensor, which can monitor in real time whether the patient is using his own muscles for active rehabilitation training or passive rehabilitation training without muscle activity;

[0027] 3. The device also adds an elastic band to adapt to patients with different foot sizes. The elastic band can effectively restrain the patient without making the patient uncomfortable. According to the width and height of the foot, the elastic band of different lengths can be easily replaced to comfortably bind the patient's foot to the slide seat;

[0028] 4. The elastic band of this device can also cooperate with the telescopic rod for active rehabilitation training, which increases the scope of application of this device. It can provide different elastic coefficients to help patients adapt to active rehabilitation training of the ankle joint in different dimensions in the later stages of rehabilitation. It can also provide different intensities of elasticity by replacing elastic bands of different thicknesses and adapt to different training impedances, which is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0030] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2It is a schematic diagram of the overall side structure of the present invention;

[0032] Figure 3 It is a schematic top view of the overall structure of the present invention;

[0033] Figure 4 It is a schematic diagram of the structure of a single foot limiting mechanism of the present invention;

[0034] Figure 5 It is a schematic diagram of the bottom plate and the back plate structure of the present invention.

[0035] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0036] 1-bottom plate, 11-back plate, 12-slide groove, 2-telescopic rod, 21-controller, 22-guide rail, 23-base frame, 3-foot limiting mechanism, 31-positioning ring frame, 32-slide seat, 33-elastic band, 34-cushion, 4-electromyoelectric sensor, 41-data terminal. DETAILED DESCRIPTION

[0037] See also Figures 1 to 5 As shown, the present invention provides a multi-dimensional rehabilitation training device for ankle joints. In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings in the specification and specific implementation methods.

[0038] In a specific embodiment of the technical solution of the present invention:

[0039] It includes a base plate 1, a telescopic rod 2, a foot limiting mechanism 3, an electromyographic sensor 4 and a data terminal 41;

[0040] The base plate 1 is a stable flat plate, and a support plate 11 is vertically arranged at the rear end of the base plate 1; a silicone anti-skid pad is laid at the bottom of the base plate 1 to facilitate the base plate 1 to be stably supported on the ground or on a platform.

[0041] An electromyographic sensor 4 is provided on the front side of the backrest 11, and the electromyographic sensor 4 is electrically connected to a data terminal 41; the data terminal 41 can be a computer host, a portable mobile terminal, or other data reading and analyzing devices that can view data.

[0042] A slide groove 12 is provided on the bottom plate 1 along the front-to-back direction, and two bottom frames 23 are slidably arranged in the slide groove 12. Two telescopic rods 2 are vertically installed at the left and right ends of the top of each bottom frame 23. A guide rail 22 is horizontally arranged on the top of the two telescopic rods 2 on the same bottom frame 23. The guide rail 22 is arranged along the left-right direction. The guide rail 22 on the same bottom frame 23 is on the same vertical plane as the telescopic rod 2. The vertical planes where the guide rails 22 on the front and rear bottom frames 23 are located are parallel to each other, that is, the tops of the two telescopic rods 2 on the front side are horizontally arranged. A guide rail 22 is arranged on the top of the two telescopic rods 2 at the rear end, and a guide rail 22 is also arranged on the top of the two telescopic rods 2 at the front side, and the two telescopic rods 2 at the rear side and the guide rail 22 at the top are also on the same vertical plane, that is, both planes are vertical planes, and the vertical plane where the front guide rail 22 is located is parallel to the vertical plane where the rear guide rail 22 is located, and the planes where the two planes are located are parallel to the back plate 11; the vertical planes where the guide rails 22 at the front and rear sides are located are parallel to each other;

[0043] The base frame 23 is arranged horizontally along the left and right direction; a screw rod is set up in the front and back direction in the slide groove 12, and the base frame 23 is installed on the screw rod. The base frame 23 is translated in the front and back direction in the slide groove 12 through the screw rod. The screw rod can also be a linear motor. As long as the base frame 23 is driven to translate along the front and back direction opened in the slide groove 12, it is convenient to adapt to the training of patients with different foot sizes, and both large feet and small feet can be stably supported.

[0044] The telescopic rod 2 is an electrically controlled telescopic rod, which can accurately control the telescopic amount and telescopic speed. This electrically controlled telescopic rod 2 is a commonly used device;

[0045] Each telescopic rod 2 is perpendicular to the plane where the bottom plate 1 is located, and each telescopic rod 2 is individually controlled to rise and fall by a controller 21. The present device is used here to individually control the rise and fall, and can control the two telescopic rods 2 on the front side to rise and the two telescopic rods 2 on the rear side to lower, so as to perform dorsiflexion activities;

[0046] The upper end of the telescopic rod 2 is rotatably connected to the guide rail 22 via a rotating shaft, and the guide rail 22 can rotate horizontally in the left and right directions at the top of the telescopic rod 2 via the rotating shaft. At this time, the left side is raised and the telescopic rod 2 on the right side is lowered, causing the guide rail 22 to tilt to the right, so that the foot can be turned to the right, forming a right flip activity, completing multi-dimensional rehabilitation training of the ankle joint, rather than unilateral or unidirectional activities.

[0047] A foot limiting mechanism 3 is slidably provided at the top of each guide rail 22 in the left-right direction;

[0048] The foot limiting mechanism 3 includes a positioning ring frame 31, a slide seat 32 and an elastic band 33. The slide seat 32 is a flat plate, the positioning ring frame 31 is a long strip structure, a positioning ring frame 31 is fixedly arranged on the left and right sides of the top of the slide seat 32, and the upper end of the positioning ring frame 31 extends above the slide seat 32. The elastic band 33 is an elastic band structure, which can be a rubber band or an elastic band with better elasticity. The top of each positioning ring frame 31 can be detachably mounted with an elastic band 33, and the positioning ring frames 31 on the left and right sides are connected by an elastic band 33 to form a complete ring structure;

[0049] The positioning ring frame 31 is an aluminum alloy arc-shaped strip, and a dovetail groove is provided on the upper end surface of the positioning ring frame 31. Dovetail groove sliders are convexly provided at both ends of the elastic band 33. The two ends of the elastic band 33 are stably connected with the top slots of the positioning ring frame 31 on both sides through the clamping blocks. The clamping groove of the positioning ring frame 31 and the clamping block of the elastic band 33 are interference fit. The slider of the elastic band 33 can also slide away from the dovetail groove of the positioning ring frame 31. The elastic band 33 is installed and clamped with the left and right positioning ring frames 31 on the top of the same slide seat 32;

[0050] The elastic band 33 has a plurality of replacement parts of different lengths, and the elastic strength of each replacement part of the elastic band 33 is also different. You can choose the appropriate one according to the width and height of the patient's dorsum of the foot, and you can also choose different elastic strengths according to the training strength required by the patient. The elastic bands 33 with different elasticity are achieved by different materials and widths and thicknesses. They can be adapted and debugged in actual production. The elasticity can allow a certain range of error without affecting the use. That is, each replacement part of the elastic band 33 also has a slider matched with a swallow tail groove, which can be slid into the upper end face of the positioning ring frame 31 and can also be slid out, but cannot be pulled out from the cross section, so that the elastic band 33 generates a locking tension, and it can also be easily replaced.

[0051] A soft pad 34 is also provided on the top of the sliding seat 32. The soft pad 34 is a silicone cushion pad, which is convenient for providing more comfortable support for the foot.

[0052] Each telescopic rod 2 is connected to the same controller 21; a linear motor is provided on the top of the guide rail 22, and the linear motor on the top of the guide rail 22 is a servo motor, which is convenient for accurately controlling the translation amount. The slide 32 is driven by the linear motor to slide on the top of the guide rail 22, and the linear motor on the guide rail 22 is also electrically connected to the controller 21.

[0053] The overall control is carried out through the controller 21. The controller 21 can be a single-chip microcomputer or a plc controller. It can control the telescopic duration, speed and telescopic amount of each telescopic rod 2. Generally, this controller 21 is a control device that comes with the electric telescopic rod. This device only needs to integrate multiple telescopic rods 2 on the same controller 2, which is also a commonly used device for telescopic control devices.

[0054] It should be noted that:

[0055] 1. For general ankle injuries, during rehabilitation training, doctors are currently required to manually help patients move, which requires dorsiflexion, plantar flexion, inversion, eversion, and left and right translation. Each movement must be done for a sufficient amount of time. However, this work greatly increases the workload of doctors, but it is also a skilled job. Doctors are not only tired, but also have a large number of patients waiting, which brings inconvenience to both doctors and patients. This device can liberate doctors. As long as the telescopic rod 2 is set to extend and retract in a suitable order, and the extension amount is also set according to the degree of injury of the patient, rehabilitation training can be repeated for the patient, which completely liberates doctors and can take care of more patients. Training can be carried out in the hospital, and patients can also be allowed to train at home by themselves, which is convenient to use;

[0056] 2. The training method of the device is to appropriately shorten the telescopic rod 2 on the left side and appropriately raise the telescopic rod 2 on the right side to achieve the effect of turning the foot to the left, and shorten the two telescopic rods 2 on the front side and raise the two telescopic rods on the back side to achieve the patient's plantar flexion activity mode. These can be achieved by coordinating different telescopic amounts of the telescopic rod 2, and the linear motor on the guide rail 22 can translate the foot to the left and right to achieve the purpose of passively training the ankle joint of the patient, and each movement can appropriately complete the training, and the training intensity is adjusted by the controller 21, and each patient can use an adaptive training plan and intensity, and the training intensity is adjusted by the movement of the linear motor and the telescopic amount of the telescopic rod 2, and is set by the doctor according to the actual physiological condition of the patient, and can be used continuously after setting;

[0057] 3. The data terminal 41 can be a simple display screen that only displays whether the patient's muscles have actively exerted force and detects the amount of force. It does not require a complex computer for connection. Even a mobile terminal can be carried and used in conjunction with it to meet the functional requirements of the device. The device only needs to confirm whether the patient's muscles have actively exerted force during training.

[0058] When the present invention is in use, the device can adjust the ankle joint in 6 directions, cooperate with the patient to perform passive rehabilitation training, does not require the patient to use muscle force, and activities of different dimensions can be combined and performed synchronously.

[0059] Dorsiflexion and plantar flexion: The two telescopic rods 2 at the bottom of the front guide rail 22 are controlled to extend, so that the front guide rail 22 carrying the foot limit mechanism 3 is raised, and the rear guide rail 22 is kept in a low position. The elastic band 33 binds the dorsum of the foot, and the slide seat 32 supports the sole of the foot to rise and tilt, while the heel remains still.

[0060] The plantar flexion is just the opposite of the dorsiflexion, and the guide rail 22 at the front is kept in a low position, and the guide rail 22 under the heel at the rear is extended upward through the telescopic rod 2 to lift the heel and make the foot complete the plantar flexion.

[0061] Inversion and eversion: Inversion, i.e. the foot rotates toward the center of the human body, is also the main action characteristic of the ankle joint. The device is kept at a low position by the two front and rear telescopic rods 2 on the inside, while the two outer telescopic rods 2 are raised, and the slide 32 is kept in place on the guide rail 22. At this time, the guide rail 22 forms an inclined state with the inside lower and the outside higher. The elastic band 33 and the positioning ring frame 31 wrap the foot together and tilt it, so that the foot turns inward.

[0062] The eversion action is to make the telescopic states of the inner and outer telescopic rods 2 opposite. This allows the device to complete the eversion and eversion actions, and the telescopic rods 2 are driven throughout the entire process, avoiding the patient's own muscle activity, and is more suitable for the training intensity in the early stage of rehabilitation.

[0063] Left translation and right translation: keep the four telescopic rods 2 at the same height to keep the sole of the foot flat, the rear slide 32 slightly translates to the right on the guide rail 22, and the front slide 32 translates to the right more on the guide rail 22, so that the toes swing, forming a right translation state of the foot.

[0064] The guide rails 22 on both sides of the device are provided with linear motors to drive the slide 32, because when the toes are swung in translation, the heel will also follow the tilt swing, especially when multiple different dimensional movements are coordinated with each other, the heel needs to follow the translation.

[0065] This device can perform dorsiflexion and eversion simultaneously, and can also perform plantar flexion and left translation together, which is convenient for increasing the multi-dimensional range of motion of the ankle joint, with more activity methods, and bringing more angles and different movements to the rehabilitation training of the ankle joint. This is the special design intention brought by this device, which is convenient for the ankle joint to more realistically simulate the various states that patients may encounter when walking.

[0066] The various activities of the device can generate impedance through the elastic band 33. The elastic band 33 can not only bind the foot, but also provide elastic impedance to the patient in the later stage of training, allowing the patient to perform active rehabilitation training, so that the device can support and assist the patient's training both in the early and late stages of training.

[0067] And through the electromyographic sensor 4, it is possible to determine in real time whether the patient is undergoing active rehabilitation training or passive training. During activities, only passive training should be used in the early stage, and active and passive training can be coordinated with each other in the middle stage. In the late stage of rehabilitation, the impedance strength can be increased and a stronger elastic band 33 can be replaced. This device can be used in multiple dimensions and is more convenient.

[0068] The front end of the device refers to the toe end, and the rear end refers to the heel end; the inner side refers to the side of the sole of the foot, that is, the side facing the center of the human body, and the outer side refers to the outer side of the human body; the left and right direction refers to the left and right direction of the human body.

[0069] The orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings and is only for the convenience of describing the present invention and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0070] Although the specific implementation modes of the present invention are described above, those skilled in the art should understand that the specific implementation modes described are only illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A multi-dimensional ankle joint rehabilitation training device, characterized in that: include: Base plate (1), telescopic rod (2), foot limiting mechanism (3), myoelectric sensor (4) and data terminal (41); The bottom plate (1) is a stable flat plate, and a backing plate (11) is vertically arranged at the rear end of the bottom plate (1); A myoelectric sensor (4) is arranged on the front side of the backing plate (11), and the myoelectric sensor (4) is electrically connected to a data terminal (41); A slide groove (12) is provided on the bottom plate (1) along the front-back direction, two bottom frames (23) are slidably arranged in the slide groove (12), two telescopic rods (2) are vertically installed at the left and right ends of the top of each bottom frame (23), a guide rail (22) is horizontally arranged at the top of the two telescopic rods (2) on the same bottom frame (23), the guide rail (22) is arranged along the left-right direction, and the upper end of each telescopic rod (2) is rotatably connected to the guide rail (22) through a rotating shaft; A foot limiting mechanism (3) is slidably provided at the top of each guide rail (22) in the left-right direction; The foot limiting mechanism (3) comprises a positioning ring frame (31), a sliding seat (32) and an elastic band (33); the sliding seat (32) is a flat plate; the positioning ring frame (31) is a long strip structure; a positioning ring frame (31) is fixedly arranged on the left and right sides of the top of the sliding seat (32); the upper end of the positioning ring frame (31) extends above the sliding seat (32); the elastic band (33) is an elastic band structure; A slot is provided on the top of each positioning ring frame (31), and a block is protruded from both ends of each elastic band (33). The two ends of the elastic band (33) are stably connected to the slots on the top of the positioning ring frames (31) on both sides through the block, and the positioning ring frames (31) on the left and right sides are connected to form a complete ring structure through an elastic band (33); Each of the telescopic rods (2) is data-connected to the same controller (21); a linear motor is arranged on the top of the guide rail (22); the slide seat (32) is driven by the linear motor to slide on the top of the guide rail (22); and the linear motor on the guide rail (22) is also electrically connected to the controller (21).

2. The multi-dimensional ankle joint rehabilitation training device according to claim 1, characterized in that: The bottom of the base plate (1) is paved with a silicone anti-skid pad; The linear motor at the top of the guide rail (22) is a servo motor; The guide rail (22) on the same base frame (23) and the telescopic rod (2) are on the same vertical plane, and the vertical planes where the guide rails (22) on the front and rear base frames (23) are located are parallel to each other.

3. The multi-dimensional ankle joint rehabilitation training device according to claim 1, characterized in that: The base frame (23) is arranged horizontally in the left-right direction; a screw rod is arranged in the slide groove (12) in the front-back direction, and the base frame (23) is installed on the screw rod. The base frame (23) is translated in the front-back direction in the slide groove (12) through the screw rod.

4. The multi-dimensional ankle joint rehabilitation training device according to claim 1, characterized in that: The positioning ring frame (31) is an arc-shaped strip, the slot provided on the upper end surface of the positioning ring frame (31) is a dovetail slot, the blocks protruding at both ends of the elastic band (33) are dovetail slot sliders, the slot of the positioning ring frame (31) and the block of the elastic band (33) are interference fit, and the elastic band (33) is installed and connected with the left and right positioning ring frames (31) on the top of the same slide seat (32); The elastic band (33) has a plurality of replacement parts of different lengths; A soft pad (34) is also provided on the top of the sliding seat (32), and the soft pad (34) is a silicone cushion.

5. The multi-dimensional ankle joint rehabilitation training device according to claim 1, characterized in that: The telescopic rods (2) are electrically controlled telescopic rods, and each of the telescopic rods (2) is perpendicular to the plane where the bottom plate (1) is located.

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