Knee joint static progressive drafting trainer with degree-of-freedom displacement detection function

Abstract

The invention relates to a knee joint static progressive drafting trainer with a degree-of-freedom displacement detection function. The knee joint static progressive drafting trainer comprises a driving stepping motor, a thigh binding plate, a flexion and extension movement mechanism, a front-back and lateral movement module, an internal and external rotation movement module, a separation movement module, an IMU inertial sensor and a control unit. The flexion and extension movement mechanism is used for simulating flexion and extension movement of knee joints; the front-back and lateral movement module is used for simulating two additional degrees of freedom of front-back and lateral movement of the knee joint; the internal and external rotation motion module is used for simulating internal and external rotation motion of the knee joint; the separation movement module is used for simulating separation movement of the tibia of the knee joint relative to the femur; iMU inertial sensors are arranged on the front-back and lateral movement module, the internal and external rotation movement module and the separation movement module and are used for accurately measuring the movement displacement of the measured degree of freedom; and the control unit is used for acquiring measurement data of the IMU inertial sensor and uploading the measurement data to the personal host, so that acquisition and recording of degree-of-freedom data are realized.

Description

Technical Field

[0001] The invention relates to the technical field of medical devices, and in particular to a static progressive stretching trainer for knee joints with a degree of freedom displacement detection function. Background Art

[0002] Knee adhesion is a common complication after knee injury and surgery, which will reduce joint mobility and seriously affect the patient's quality of life. Joint training based on static progressive stretching trainer is an important way to treat joint adhesion. However, the current mainstream static progressive stretching trainer only has a basic mechanical transmission structure. When patients expand the stretching range, they can only try to stretch based on the degree of pain. When pain occurs and the stretching trainer is stopped or relaxed, it has already caused negative damage to the patient, which poses certain inconveniences and safety risks.

[0003] The utility model patent with publication number CN216496396U discloses a knee joint neuromuscular training device, which is provided with: a seat, an adjustable backrest fixedly connected to the back of the seat, a support leg fixedly connected to the bottom of the seat, a leg training box arranged in front of the seat, a pulley device arranged inwardly of the leg training, a knee joint is placed in the pulley device, and the pulley device includes a first linkage rod group, a second linkage rod group, a second linkage rod group, and a foot pedal. The utility model receives the electromyographic signal emitted by the knee joint by arranging a signal receiver, and then processes the electromyographic signal emitted by the knee joint.

[0004] Existing technology is unable to collect displacement data for each degree of freedom during knee stretching training. Rehabilitation physicians are unable to accurately know the movement rehabilitation status of each degree of freedom of the knee joint, and thus lack accurate assessment of the patient's rehabilitation status. Summary of the invention

[0005] The present invention aims to provide a static progressive stretching trainer for the knee joint with a degree of freedom displacement detection function. The technical problems to be solved include at least how to build a static progressive stretching trainer for the knee joint with a degree of freedom displacement detection function, so as to achieve accurate measurement and data recording of each degree of freedom activity in the knee joint stretching training process, and further refine the rehabilitation physician's accurate judgment on the patient's knee joint rehabilitation condition.

[0006] In order to achieve the above-mentioned purpose, the present invention provides a knee joint static progressive stretching trainer with a degree of freedom displacement detection function, comprising a driving stepper motor, a thigh binding plate, a flexion and extension movement mechanism, a front-back and lateral movement module, an internal and external rotation movement module, a separation movement module, an IMU inertial sensor and a control unit; the driving stepper motor is used to drive the flexion and extension movement mechanism to rotate, and provide the stretching force required for the human knee joint stretching movement; the thigh binding plate is used to fix the knee joint static progressive stretching trainer with a degree of freedom displacement detection function on the lower limbs of the human body; the flexion and extension movement mechanism is used to simulate the flexion and extension movement of the knee joint movement; the anterior-posterior and lateral movement module is used to simulate the two additional degrees of freedom of the anterior-posterior and lateral movement of the knee joint itself; the internal and external rotation movement module is used to simulate the internal and external rotation movement of the knee joint itself; the separation movement module is used to simulate the separation movement of the tibia relative to the femur of the knee joint itself; the anterior-posterior and lateral movement module, the internal and external rotation movement module and the separation movement module are all arranged with IMU inertial sensors; the IMU inertial sensors are used to accurately measure the movement displacement of the measured degree of freedom; the control unit is used to collect the measurement data of the IMU inertial sensor and upload it to the personal host to realize the collection and recording of the degree of freedom data.

[0007] Preferably, a first IMU inertial sensor is arranged on the front surface of the fore-and-aft and lateral motion module, and the first IMU inertial sensor is used to achieve accurate motion measurement of the fore-and-aft and lateral motion.

[0008] Preferably, the first IMU inertial sensor is used to measure the displacement in the orthogonal direction of the degrees of freedom, and obtain the displacement data of the knee joint in the anterior-posterior direction and lateral direction by collecting data in each dimension.

[0009] Preferably, a second IMU inertial sensor is arranged on the front surface of the internal and external rotation motion module, and the second IMU inertial sensor is used to achieve accurate motion measurement of the internal and external rotation motion.

[0010] Preferably, the second IMU inertial sensor is used to measure the displacement in the orthogonal coordinate system, and obtains the displacement data of the knee joint in the direction of internal and external rotation by collecting data in various dimensions.

[0011] Preferably, a third IMU inertial sensor is arranged on the upper surface of the separation motion module, and the third IMU inertial sensor is used to achieve accurate motion measurement of the separation motion.

[0012] Preferably, the third IMU inertial sensor is used to measure the displacement in the orthogonal coordinate system, and the displacement data of the knee joint in the separation movement direction is obtained by collecting data of each dimension.

[0013] Preferably, the control unit uses Arduino UNO R3 as a central control unit for collecting sensor data.

[0014] Preferably, the IMU inertial sensor and the control unit constitute an IMU sensor data acquisition system, the IMU inertial sensor is used to collect the range of motion of each degree of freedom of motion, and the Arduino UNO R3 serves as a central control unit to realize unified integration and packaging of the data of the first IMU inertial sensor, the second IMU inertial sensor and the third IMU inertial sensor, and sends them to the upper computer personal host, thereby realizing the process implementation of data acquisition and data recording.

[0015] Preferably, the internal and external rotation motion module is composed of a limit block, a tray, an adjusting bolt and a slider; the limit block includes a first limit block and a second limit block, which are respectively arranged on both sides of the slider; the first limit block and the second limit block are both arc-shaped, the first limit block is provided with a first slide groove extending along the length direction of the first limit block, the second limit block is provided with a second slide groove extending along the length direction of the second limit block, and a protrusion is provided on the front surface of the slider, the protrusion is clamped in the first slide groove and the second slide groove, and can The cam is capable of sliding in the first slide groove and the second slide groove; the rear surface of the slider is fixedly connected to the tray; the adjusting bolt passes through the tray and the slider, and when the adjusting bolt is screwed to the tightest position, the front end of the adjusting bolt abuts against the first limit block or the second limit block, so that the position of the slider is fixed and cannot slide; when the adjusting bolt is loosened, the front end of the adjusting bolt disengages from the first limit block or the second limit block, so that the slider can slide along the first slide groove and the second slide groove; the moving range of the slider is determined by the limit blocks on both sides.

[0016] Preferably, two parallel fixing grooves are provided on the upper surface of the tray, and the fixing grooves are used to match with two parallel clamping feet at the bottom of the knee joint binding plate, and the fixed connection between the knee joint binding plate and the tray is achieved by clamping the clamping feet into the fixing grooves.

[0017] Preferably, the front-to-back and lateral movement modules are composed of side adjustment bolts, bottom adjustment bolts, a shell, a spring, a cross slider guide rail and an arc support frame; the cross slider guide rail includes a first guide rail, a first sliding block, a second sliding block and a second guide rail, and the first guide rail is fixedly connected to the shell; a connecting plate is fixedly provided at one end of the arc support frame, and the second guide rail is fixedly connected to the connecting plate; the first sliding block is slidably connected to the first guide rail; the second sliding block is slidably connected to the second guide rail; the first sliding block is fixedly connected to the second sliding block; the first guide rail and the second guide rail are cross-arranged, so that the connecting plate drives the arc support frame to move relative to the shell in two directions: along the length direction of the first guide rail and along the length direction of the second guide rail.

[0018] Preferably, the spring includes a first spring and a second spring, the first spring being fixedly arranged between the first side surface of the shell and the cross slider guide rail; the second spring being fixedly arranged between the lower side of the top surface of the shell and the cross slider guide rail; the side adjustment bolt is coaxially arranged opposite to the first spring; the bottom adjustment bolt is coaxially arranged opposite to the second spring; the front end end of the side adjustment bolt passes through the second side surface of the shell and abuts against one side of the cross slider guide rail; the top end of the bottom adjustment bolt passes through the bottom surface of the shell and abuts against the bottom of the cross slider guide rail; when the side adjustment bolt is rotated clockwise, the front end end of the side adjustment bolt squeezes the cross slider guide rail and The cross slider guide is driven to squeeze the first spring. When the side adjusting bolt is rotated counterclockwise, the first spring pushes the cross slider guide to move in the direction of the side adjusting bolt, thereby realizing the limited adjustment of the movable range of the cross slider guide in the axial direction of the side adjusting bolt; when the bottom adjusting bolt is rotated clockwise, the top end of the bottom adjusting bolt squeezes the cross slider guide and drives the cross slider guide to squeeze the second spring. When the bottom adjusting bolt is rotated counterclockwise, the second spring pushes the cross slider guide to move in the direction of the bottom adjusting bolt, thereby realizing the limited adjustment of the movable range of the cross slider guide in the axial direction of the bottom adjusting bolt.

[0019] Preferably, the first limit block is provided with a plurality of first screw holes, the second limit block is provided with a plurality of second screw holes, and the arc support frame is provided with a plurality of third screw holes, each of the first screw hole and the second screw hole is respectively matched with a third screw hole at a corresponding position and axially aligned, and the first limit block and the second limit block are fixedly connected to the arc support frame by inserting the limit bolts into the first screw hole and the third screw hole and the second screw hole and tightening them.

[0020] Preferably, the first screw hole is arranged in the first sliding groove, and the second screw hole is arranged in the second sliding groove.

[0021] Preferably, the top surface of the first screw hole is flush with the top surface of the first slide groove; the top surface of the second screw hole is flush with the top surface of the second slide groove.

[0022] Preferably, after the limiting bolt is inserted into the first screw hole and the third screw hole and the second screw hole and tightened, the top of the limiting bolt is completely embedded in the first slide groove or the second screw hole, and an avoidance gap is formed between the top of the limiting bolt and the protrusion to avoid interfering with the normal sliding of the protrusion in the first slide groove and the second slide groove.

[0023] Preferably, the separation movement module consists of a calf bracket, a support plate, a calf support plate, a limit adjustment bolt, a limit slider, a first limit spring, a second limit spring, a positioning block and a hand-tightening bolt; the calf bracket is provided with a through slot, the support plate is provided with a support plate slide slot, and the support plate is sleeved on the calf bracket through the support plate slide slot; the side of the support plate is also provided with a receiving slot, and the hand-tightening bolt and the positioning block are arranged in the receiving slot; the positioning block and the fixing block are respectively arranged on different sides of the calf bracket; the first limit spring and the second limit spring are respectively fixedly arranged on different sides of the positioning block; the end of the first limit spring away from the positioning block is fixedly connected to the support plate; the hand-tightening bolt passes through the positioning block and the through slot and the bolt hole on the fixing block in sequence, and after adjusting the position of the fixing block on the calf bracket by loosening the hand-tightening bolt, Tighten the hand-tightening bolt to achieve the purpose of fixing; the pallet slide groove on the pallet cooperates with the calf bracket, the interior of the pallet is elastically connected to the positioning block through a spring, and the calf binding plate is fixed to the pallet, so that the calf binding plate can slide forward and backward relative to the calf bracket, providing the knee joint with the degree of freedom of separation movement; the limit slider is slidably arranged in the accommodating groove, and the end of the second limit spring away from the positioning block is fixedly connected to the limit slider; the front end end of the limit adjustment bolt passes through the side wall of the pallet and abuts against the limit slider; by rotating the limit adjustment bolt clockwise, the front end end of the limit adjustment bolt pushes the limit slider to slide toward the second limit spring and squeezes the second limit spring; by rotating the limit adjustment bolt counterclockwise, the second limit spring pushes the limit slider to slide in the direction of the limit adjustment bolt, thereby realizing the adjustment of the movable range of the pallet relative to the positioning block.

[0024] Preferably, the flexion and extension movement mechanism is wrapped in a first shell and a second shell; the flexion and extension movement mechanism is composed of a secondary reduction pinion, a flexion and extension transmission front gear, a pulley, a secondary reduction gear and a flexion and extension transmission rear gear; the pulley is connected to the output shaft of a driving stepper motor through a synchronous belt, and the driving stepper motor drives the pulley to rotate through the synchronous belt; the pulley is coaxially connected to the secondary reduction pinion and drives the secondary reduction pinion to rotate synchronously; the secondary reduction pinion is meshed with the secondary reduction gear to drive the secondary reduction gear to rotate; the secondary reduction gear and the flexion and extension transmission rear gear are fixed through a transmission shaft, so the secondary reduction gear rotates while driving the flexion and extension transmission rear gear; the flexion and extension transmission rear gear is meshed with the flexion and extension transmission front gear; the flexion and extension transmission front gear is fixedly mounted on the thigh side panel; the flexion and extension transmission rear gear is fixedly mounted on the calf side panel; the thigh binding plate is fixedly arranged on the outer surface of the thigh side panel; the shell is fixedly connected to the calf side panel.

[0025] Compared with the prior art, the present invention has the following beneficial effects: The knee joint static progressive stretching trainer with degree of freedom displacement detection function described in the present invention can realize dynamic detection of the motion data of each degree of freedom of the knee joint, and quantify the motion path of each degree of freedom in the knee joint rehabilitation process, which is beneficial for rehabilitation physicians to accurately judge the rehabilitation status of each degree of freedom of patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the specific implementation methods of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0027] Figure 1 It is a schematic diagram of the overall structure of the static progressive stretching trainer for knee joints with a degree of freedom displacement detection function according to the present invention.

[0028] Figure 2 Schematic diagram of the structure of the front-to-back and lateral movement module 100 of the present invention.

[0029] Figure 3 Schematic diagram of the structure of the internal and external rotation movement module 200 of the present invention.

[0030] Figure 4 Schematic diagram of the structure of the cross slide rail 28 of the present invention.

[0031] Figure 5 It is a schematic structural diagram of the separation motion module 300 of the present invention.

[0032] Figure 6 It is a structural schematic diagram of the flexion and extension movement mechanism of the present invention.

[0033] Figure 7 It is a schematic diagram of the IMU sensor data acquisition system described in the present invention. DETAILED DESCRIPTION

[0034] The present invention is described in more detail hereinafter to facilitate understanding of the present invention.

[0035] like Figures 1 to 7As shown, the knee joint static progressive stretching trainer with a degree of freedom displacement detection function described in the present invention comprises a driving stepper motor 1, a thigh binding plate 2, a flexion and extension movement mechanism 3, a front-back and lateral movement module 100, an internal and external rotation movement module 200, a separation movement module 300, an IMU inertial sensor and a control unit; the driving stepper motor 1 is used to drive the flexion and extension movement mechanism 3 to rotate, and provide the stretching force required for the human knee joint stretching movement; the thigh binding plate 2 is used to fix the knee joint static progressive stretching trainer with a degree of freedom displacement detection function on the lower limbs of the human body; the flexion and extension movement mechanism 3 is used to simulate the flexion and extension movement of the knee joint; the The anterior-posterior and lateral motion module 100 is used to simulate the two additional degrees of freedom of the anterior-posterior and lateral motion of the knee joint itself; the internal and external rotation motion module 200 is used to simulate the internal and external rotation motion of the knee joint itself; the separation motion module 300 is used to simulate the separation motion of the tibia relative to the femur of the knee joint itself; the anterior-posterior and lateral motion module 100, the internal and external rotation motion module 200 and the separation motion module 300 are all arranged with IMU inertial sensors; the IMU inertial sensors are used to accurately measure the motion displacement of the measured degrees of freedom; the control unit is used to collect the measurement data of the IMU inertial sensor and upload it to the personal host to realize the collection and recording of degree of freedom data.

[0036] Preferably, if Figure 2 As shown, a first IMU inertial sensor 201 (ie, IMU1) is disposed on the front surface of the front-to-back and lateral motion module 100, and the first IMU inertial sensor 201 is used to achieve accurate motion measurement of the front-to-back and lateral motion.

[0037] Preferably, the first IMU inertial sensor 201 is used to measure the displacement in the orthogonal direction of the degrees of freedom, and obtain the displacement data of the knee joint in the anterior-posterior direction and the lateral direction by collecting data of each dimension.

[0038] Preferably, if Figure 3 As shown, a second IMU inertial sensor 202 (ie, IMU2) is disposed on the front surface of the internal and external rotation motion module 200, and the second IMU inertial sensor 202 is used to achieve accurate motion measurement of the internal and external rotation motion.

[0039] Preferably, the second IMU inertial sensor 202 is used to measure the displacement in the orthogonal coordinate system, and obtain the displacement data of the knee joint in the direction of internal and external rotation by collecting data in various dimensions.

[0040] Preferably, if Figure 5As shown, a third IMU inertial sensor 203 (ie, IMU3) is disposed on the upper surface of the separation motion module 300, and the third IMU inertial sensor 203 is used to achieve accurate motion measurement of the separation motion.

[0041] Preferably, the third IMU inertial sensor 203 is used to measure the displacement in the orthogonal coordinate system, and obtains the displacement data of the knee joint in the separation movement direction by collecting data of each dimension.

[0042] Preferably, the control unit uses Arduino UNO R3 as a central control unit for collecting sensor data.

[0043] Preferably, if Figure 7 As shown, the IMU inertial sensor and control unit constitute an IMU sensor data acquisition system. The IMU inertial sensors (i.e., IMU1, IMU2, and IMU3) are used to collect the range of motion of each degree of freedom of motion. Arduino UNO R3 serves as a central control unit to realize unified integration and packaging of the data of the first IMU inertial sensor 201, the second IMU inertial sensor 202, and the third IMU inertial sensor 203 (i.e., inertial sensor IMU1, inertial sensor IMU2, and inertial sensor IMU3), and sends the data to the upper personal host, thereby realizing the process of data acquisition and data recording.

[0044] Preferably, the internal and external rotation motion module 200 is composed of a limit block 101, a tray 102, an adjustment bolt 103 and a slider 104. Figure 2 As shown. There are two limit blocks 101 (i.e., the first limit block 11 and the second limit block 12), which are arranged on both sides of the slider 104 respectively. Bolts are used to limit and clamp them to achieve the position fixation of the limit block 101 on the guide rail (i.e., the arc support frame 29). The adjustment bolt 103 passes through the tray 102 and the slider 104. When it is tightened to the tightest moment, the position of the slider 104 is fixed. If it is loosened, the slider 104 can move on the arc track. The movement range is determined by the limit blocks 101 on both sides.

[0045] Preferably, the first limit block 11 and the second limit block 12 are both arc-shaped, the first limit block 11 is provided with a first slide groove 111 extending along the length direction of the first limit block 11, and the second limit block 12 is provided with a second slide groove 121 extending along the length direction of the second limit block 12, and a protrusion 106 is provided on the front surface of the slider 104, and the protrusion 106 is stuck in the first slide groove 111 and the second slide groove 121, and can slide in the first slide groove 111 and the second slide groove 121; the rear surface of the slider 104 is fixedly connected to the tray 102; the adjusting bolt 103 passes through the tray 102 and the slider 104, and when the adjusting bolt 103 is rotated to the tightest position, the front end of the adjusting bolt 103 is aligned with the first limit block 11 or the second limit block 12 They abut against each other, so that the position of the slider 104 is fixed and cannot slide; when the adjusting bolt 103 is loosened, the front end of the adjusting bolt 103 is disengaged from the first limiting block 11 or the second limiting block 12, so that the slider 104 can slide along the first sliding groove 111 and the second sliding groove 121; the moving range of the slider 104 is determined by the limiting blocks 101 on both sides.

[0046] Preferably, two parallel fixing grooves 1021 are provided on the upper surface of the tray 102, and the fixing grooves 1021 are used to match with two parallel clamping feet at the bottom of the knee joint binding plate 105, and the fixed connection between the knee joint binding plate 105 and the tray 102 is achieved by clamping the clamping feet into the fixing grooves.

[0047] like Figure 2 and Figure 4 As shown, the front-to-back and lateral motion module 100 is composed of a side adjustment bolt 251, a bottom adjustment bolt 252, a housing 26, a spring 27, a cross slider guide rail 28 and an arc support frame 29. The cross slider guide rail 28 can realize the front-to-back (i.e., the length direction of the first guide rail 2821) and lateral (i.e., the length direction of the second guide rail 2824) motion of one side guide rail (i.e., the first guide rail 2821) relative to the other side guide rail (i.e., the second guide rail 2824). The spring 27 is arranged on the upper and right sides thereof, which can realize a small range of movement with resistance. The left and lower sides of the cross slider guide rail 28 are supported by the side adjustment bolt 251 and the bottom adjustment bolt 252 to realize the limit adjustment of the range of motion of the cross slider guide rail 28 in the front-to-back and left-to-right directions.

[0048] Preferably, the cross slider guide rail 28 includes a first guide rail 2821, a first sliding block 2822, a second sliding block 2823 and a second guide rail 2824, the first guide rail 2821 is fixedly connected to the shell 26; a connecting plate 291 is fixedly provided at one end of the arc support frame 29, and the second guide rail 2824 is fixedly connected to the connecting plate 291; the first sliding block 2822 is slidably connected to the first guide rail 2821; the second sliding block 2823 is slidably connected to the second guide rail 2824; the first sliding block 2822 is fixedly connected to the second sliding block 2823; the first guide rail 2821 and the second guide rail 2824 are cross-arranged, so that the connecting plate 291 drives the arc support frame 29 to move in two directions relative to the shell 26, front and back (i.e., the length direction of the first guide rail 2821) and sideways (i.e., the length direction of the second guide rail 2824).

[0049] Preferably, the spring 27 includes a first spring 271 and a second spring 272, the first spring 271 is fixedly arranged between the first side surface of the housing 26 and the cross slider guide rail 28; the second spring 272 is fixedly arranged between the lower side of the top surface of the housing 26 and the cross slider guide rail 28; the side adjustment bolt 251 is coaxially arranged opposite to the first spring 271; the bottom adjustment bolt 252 is coaxially arranged opposite to the second spring 272; the front end portion of the side adjustment bolt 251 passes through the second side surface of the housing 26 and abuts against one side of the cross slider guide rail 28; the top end portion of the bottom adjustment bolt 252 passes through the bottom surface of the housing 26 and abuts against the bottom of the cross slider guide rail 28; when the side adjustment bolt 251 is rotated clockwise, the front end portion of the side adjustment bolt 251 squeezes the cross slider guide rail 28 and drives the cross slider guide 28 to squeeze the first spring 271. When the side adjusting bolt 251 is rotated counterclockwise, the first spring 271 pushes the cross slider guide 28 to move in the direction of the side adjusting bolt 251, thereby realizing the limited adjustment of the movable range of the cross slider guide 28 in the axial direction of the side adjusting bolt 251; when the bottom adjusting bolt 252 is rotated clockwise, the top end of the bottom adjusting bolt 252 squeezes the cross slider guide 28 and drives the cross slider guide 28 to squeeze the second spring 272. When the bottom adjusting bolt 252 is rotated counterclockwise, the second spring 272 pushes the cross slider guide 28 to move in the direction of the bottom adjusting bolt 252, thereby realizing the limited adjustment of the movable range of the cross slider guide 28 in the axial direction of the bottom adjusting bolt 252.

[0050] Preferably, the first limit block 11 is provided with a plurality of first screw holes 112, the second limit block 12 is provided with a plurality of second screw holes 122, and the arc support frame 29 is provided with a plurality of third screw holes 292. Each of the first screw hole 112 and the second screw hole 122 is respectively matched with and axially aligned with a third screw hole 292 at a corresponding position. By inserting the limit bolts into the first screw hole 112 and the third screw hole 292 and the second screw hole 122 and the third screw hole 292 and tightening them, the first limit block 11 and the second limit block 12 are fixedly connected to the arc support frame 29.

[0051] Preferably, the first screw hole 112 is disposed in the first sliding groove 111 , and the second screw hole 122 is disposed in the second sliding groove 121 .

[0052] Preferably, the top surface of the first screw hole 112 is flush with the top surface of the first sliding groove 111 ; the top surface of the second screw hole 122 is flush with the top surface of the second sliding groove 121 .

[0053] Preferably, after the limiting bolt is inserted into the first screw hole 112 and the third screw hole 292 and the second screw hole 122 and the third screw hole 292 and tightened, the top of the limiting bolt is completely embedded in the first slide groove 111 or the second screw hole 122, and an avoidance gap is formed between the top of the limiting bolt and the protrusion 106 to avoid interfering with the normal sliding of the protrusion 106 in the first slide groove 111 and the second slide groove 121.

[0054] like Figure 5 As shown, the separation movement module 300 is composed of a calf support 310, a support plate 311, a calf support plate 312, a limit adjustment bolt 313, a limit slider 314, a first limit spring 3151, a second limit spring 3152, a positioning block 316 and a hand screw bolt 317. The positioning block 316 determines the relative position between the calf support 310 and other module components in the separation movement module 300, and fixes the position by tightening the hand screw bolt 317. The edge position of the limit slider 314 is determined by the limit adjustment bolt 313 to achieve the adjustment of the range of motion of the support plate 311 relative to the positioning block 316.

[0055] Preferably, the calf support 310 is provided with a through slot 362, the support plate 311 is provided with a support plate slide slot 367, and the support plate 311 is sleeved on the calf support 310 through the support plate slide slot 367; the side of the support plate 311 is also provided with a receiving slot 369, and the hand screw bolt 317 and the positioning block 316 are arranged in the receiving slot 369; the positioning block 316 and the fixing block 364 are respectively arranged on different sides of the calf support 310; the first limiting spring 3151 and the first limiting spring 3152 are provided on the calf support 310; The two limiting springs 3152 are respectively fixedly arranged on different sides of the positioning block 316; the end of the first limiting spring 3151 away from the positioning block 316 is fixedly connected to the support plate 311; the hand-tightening bolt 317 passes through the positioning block 316 and the through slot 362 and the bolt hole on the fixing block 364 in sequence, and the hand-tightening bolt 317 is loosened, and the position of the fixing block 364 on the calf support 310 is adjusted, and then the hand-tightening bolt is tightened to achieve the purpose of fixing; the support plate slide groove 367 on the support plate 311 is connected to the calf support 310 The leg support 310 cooperates with the support plate 311, the interior of the support plate 311 is elastically connected to the positioning block 316 through a spring, and the calf binding plate 312 is fixed to the support plate 311, so that the calf binding plate 312 can slide forward and backward relative to the calf support 310, providing the knee joint with the degree of freedom of separation movement; the limit slider 314 is slidably arranged in the receiving groove 369, and the end of the second limit spring 3152 away from the positioning block 316 is fixedly connected to the limit slider 314; the front end of the limit adjustment bolt 313 passes through the support plate The side wall of 311 abuts against the limit slider 314; by rotating the limit adjustment bolt 313 clockwise, the front end of the limit adjustment bolt 313 pushes the limit slider 314 to slide toward the second limit spring 3152 and squeeze the second limit spring 3152; by rotating the limit adjustment bolt 313 counterclockwise, the second limit spring 3152 pushes the limit slider 314 to slide in the direction of the limit adjustment bolt 313, thereby realizing the adjustment of the movable range of the support plate 311 relative to the positioning block 316.

[0056] Preferably, the flexion and extension mechanism 3 is wrapped in the first shell 301 and the second shell 302; Figure 6As shown, the flexion and extension mechanism 3 is composed of a two-stage reduction pinion 31, a flexion and extension transmission front gear 32, a pulley 33, a two-stage reduction gear 34, and a flexion and extension transmission rear gear 35; the pulley 33 is connected to the output shaft of the driving stepper motor 1 through a synchronous belt, and the driving stepper motor 1 drives the pulley 33 to rotate through the synchronous belt; the pulley 33 is coaxially connected to the two-stage reduction pinion 31 and drives the two-stage reduction pinion 31 to rotate synchronously; the two-stage reduction pinion 31 is meshed with the two-stage reduction gear 34, driving the two The first-stage reduction gearwheel 34 rotates; the second-stage reduction gearwheel 34 and the flexion and extension transmission rear gearwheel 35 are fixed by the transmission shaft, so the second-stage reduction gearwheel 34 rotates while driving the flexion and extension transmission rear gearwheel 35 to rotate; the flexion and extension transmission rear gearwheel 35 meshes with the flexion and extension transmission front gearwheel 32; the flexion and extension transmission front gearwheel 32 is fixedly mounted on the thigh side plate 36; the flexion and extension transmission rear gearwheel 35 is fixedly mounted on the calf side plate 37; the thigh binding plate 2 is fixedly arranged on the outer surface of the thigh side plate 36; the shell 26 is fixedly connected to the calf side plate 37.

[0057] The main movement of the knee joint flexion and extension movement of the static progressive stretching trainer with the degree of freedom displacement detection function described in the present application is controlled by a stepper motor, so the activity angle of this degree of freedom is directly controlled by the stepper motor.

[0058] The static progressive stretching trainer for the knee joint with the function of detecting degree of freedom displacement described in the present application has an artificial adjustment structure and a limit structure for the range of motion on each degree of freedom. Therefore, the progressive stretching trainer for the knee joint proposed in the present application can realize artificial range of motion adjustment, limitation and locking for each degree of freedom, thereby meeting the clinical requirements for accurate assessment and treatment of the patient's joint degrees of freedom.

[0059] Preferably, in the static progressive stretching trainer for knee joint with the function of detecting displacement of degrees of freedom provided by the present invention, it is preferred to use a spring as a method for adjusting the resistance of each degree of freedom. Of course, in other embodiments of the present application, other methods, such as a dynamic damper, may also be used to adjust the resistance of each degree of freedom.

[0060] The operating principle of the knee joint static progressive stretching trainer with a degree of freedom displacement detection function described in the present invention is as follows: the lower limbs of a person wear the knee joint static progressive stretching trainer from left to right, the thigh part is attached and fixed to the two support plates on the left side (i.e., the thigh binding plate 2), the calf part is attached and fixed to the two support plates on the right side (i.e., the knee joint binding plate 105 and the calf binding plate 312), and the intermediate gear transmission part and the guide rail bending part are attached to the five degrees of freedom of the knee joint physiological freedom, so as to achieve the matching of the knee joint static progressive stretching trainer with the physiological structure of the knee joint itself. Among them, the gear transmission part simulates the flexion and extension movement of the knee joint, the front and back and lateral movement module 100 simulates the two additional degrees of freedom of the front and back and lateral movement of the knee joint itself, the internal and external rotation movement module 200 simulates the internal and external rotation movement of the knee joint itself, and the separation movement module 300 simulates the separation movement of the tibia of the knee joint itself relative to the femur. IMU inertial sensors are arranged on the front-back and lateral motion module 100, the internal and external rotation motion module 200 and the separation motion module 300 to achieve accurate measurement of the displacement of the measured degree of freedom. At the same time, Arduino UNO R3 is used as a control unit for signal acquisition to collect data from multiple IMU inertial sensors and upload them to a personal host to achieve the collection and recording of degree of freedom data.

[0061] The knee joint static progressive stretching trainer with degree of freedom displacement detection function described in the present invention has an artificial activity range adjustment structure and a limit structure on each degree of freedom, so it can realize artificial activity range adjustment, limitation and locking for each degree of freedom, thereby meeting the clinical requirements for accurate assessment and treatment of the patient's joint freedom.

[0062] The key technical point of the knee joint static progressive stretching trainer with freedom displacement detection function described in the present invention is that it has the function of dynamically measuring and recording data of various physiological degrees of freedom of the knee joint, and also has the function of manually adjusting the range of motion, release and retraction of the patient's knee joint physiological degrees of freedom.

[0063] The above describes the preferred embodiments of the present invention, but it is not intended to limit the present invention. Those skilled in the art may make improvements and changes to the embodiments disclosed herein without departing from the scope and spirit of the present invention.

Claims

1. A static progressive stretching trainer for knee joint with a degree of freedom displacement detection function, characterized in that: The knee joint static progressive stretching trainer with a degree of freedom displacement detection function comprises a driving stepper motor, a thigh binding plate, a flexion and extension movement mechanism, a front-back and lateral movement module, an internal and external rotation movement module, a separation movement module, an IMU inertial sensor and a control unit; the driving stepper motor is used to drive the flexion and extension movement mechanism to rotate, and provide the stretching force required for the human knee joint stretching movement; the thigh binding plate is used to fix the knee joint static progressive stretching trainer with a degree of freedom displacement detection function on the lower limbs of the human body; the flexion and extension movement mechanism is used to simulate the flexion and extension movement of the knee joint; the front-back and lateral movement module The anteroposterior and lateral motion modules are used to simulate the two additional degrees of freedom of the knee joint itself, namely the anterior-posterior and lateral motion; the internal and external rotation motion module is used to simulate the internal and external rotation motion of the knee joint itself; the separation motion module is used to simulate the separation motion of the tibia relative to the femur of the knee joint itself; the anterior-posterior and lateral motion modules, the internal and external rotation motion module and the separation motion module are all equipped with IMU inertial sensors; the IMU inertial sensors are used to accurately measure the motion displacement of the measured degrees of freedom; the control unit is used to collect the measurement data of the IMU inertial sensor and upload it to the personal host to realize the collection and recording of the degree of freedom data.

2. The static progressive stretching trainer for knee joint with a degree of freedom displacement detection function according to claim 1, characterized in that: A first IMU inertial sensor is arranged on the front surface of the front-to-back and lateral motion module, and the first IMU inertial sensor is used to achieve accurate motion measurement of the front-to-back and lateral motion.

3. The knee joint static progressive stretching trainer with a degree of freedom displacement detection function according to claim 2, characterized in that: The first IMU inertial sensor is used to measure the displacement in the orthogonal direction of the degree of freedom, and obtains the displacement data of the knee joint in the front-to-back direction and the lateral direction by collecting data in each dimension.

4. The static progressive stretching trainer for knee joint with a degree of freedom displacement detection function according to claim 1, characterized in that: A second IMU inertial sensor is arranged on the front surface of the internal and external rotation motion module, and the second IMU inertial sensor is used to achieve accurate motion measurement of the internal and external rotation motion.

5. The static progressive stretching trainer for knee joint with the function of detecting the displacement of degrees of freedom according to claim 4, characterized in that: The second IMU inertial sensor is used to measure the displacement in the orthogonal coordinate system, and obtains the displacement data of the knee joint in the direction of internal and external rotation by collecting data in various dimensions.

6. The static progressive stretching trainer for knee joint with a degree of freedom displacement detection function according to claim 1, characterized in that: A third IMU inertial sensor is arranged on the upper surface of the separation motion module, and the third IMU inertial sensor is used to achieve accurate motion measurement of the separation motion.

7. The knee joint static progressive stretching trainer with a degree of freedom displacement detection function according to claim 6, characterized in that: The third IMU inertial sensor is used to measure the displacement in the orthogonal coordinate system, and obtains the displacement data of the knee joint in the separation movement direction by collecting data in each dimension.

8. The static progressive stretching trainer for knee joint with the function of detecting the displacement of degrees of freedom according to claim 1, characterized in that: The control unit uses Arduino UNO R3 as the central control unit for collecting sensor data.

9. The static progressive stretching trainer for knee joints with a degree of freedom displacement detection function according to claim 1, characterized in that: The IMU inertial sensor and control unit constitute an IMU sensor data acquisition system. The IMU inertial sensor is used to collect the range of motion of each degree of freedom of motion. Arduino UNO R3 serves as a central control unit to realize unified integration and packaging of the data of the first IMU inertial sensor, the second IMU inertial sensor and the third IMU inertial sensor, and sends them to the upper computer personal host, thereby realizing the process of data acquisition and data recording.

10. The static progressive stretching trainer for knee joints with a degree of freedom displacement detection function according to claim 1, characterized in that: The internal and external rotation motion module is composed of a limit block, a tray, an adjusting bolt and a slider; the limit block includes a first limit block and a second limit block, which are respectively arranged on both sides of the slider; the first limit block and the second limit block are both arc-shaped, the first limit block is provided with a first slide groove extending along the length direction of the first limit block, the second limit block is provided with a second slide groove extending along the length direction of the second limit block, and a protrusion is provided on the front surface of the slider, the protrusion is stuck in the first slide groove and the second slide groove, and can be The cam slides in the first slide groove and the second slide groove; the rear surface of the slider is fixedly connected to the tray; the adjusting bolt passes through the tray and the slider, and when the adjusting bolt is rotated to the tightest position, the front end of the adjusting bolt abuts against the first limit block or the second limit block, so that the position of the slider is fixed and cannot slide; when the adjusting bolt is loosened, the front end of the adjusting bolt disengages from the first limit block or the second limit block, so that the slider can slide along the first slide groove and the second slide groove; the moving range of the slider is determined by the limit blocks on both sides.

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