Joint structure and device for improving joint flexion force generation of interphalangeal joints

Abstract

The invention belongs to the technical field of rehabilitation medical instruments, and particularly discloses a joint structure and a device for improving joint flexion force generation between interphalangeal joints, the joint structure comprises a fixing part, a first resistance part and a second resistance unit, and the first resistance part comprises a guide seat, a first resistance arm and a driving assembly; the second resistance unit comprises a sleeve, a piston and a valve bank, the device for improving the combined buckling force generation of the interphalangeal joints comprises a control assembly and a joint structure, and the control assembly is electrically connected with the driving assembly and the valve bank. According to the joint structure, self-locking of the first resistance part and self-locking of the second resistance unit are achieved, and the first resistance part and the second resistance unit can be adaptively locked according to actual requirements in actual use; according to the device for improving joint flexion force generation of the interphalangeal joints, on the basis of a joint structure, targeted auxiliary hindered operation exercise is conveniently carried out on one or several joints, and the active flexion capacity of each joint can be fully exercised.

Description

Technical Field

[0001] The present invention belongs to the technical field of rehabilitation medical devices, and particularly relates to a joint structure and a device for improving the combined flexion force of interphalangeal joints. Background Art

[0002] Active finger flexion rehabilitation exercises are applicable to people with limited finger flexion function caused by reasons such as finger tendon injuries (already passed the acute stage and in the healing stage), postoperative hand fractures (the fracture site has been initially stabilized), and hand joint diseases (such as the remission stage of arthritis). Different from passive flexion rehabilitation exercises, active flexion requires the patient to use the strength generated by their own muscles to flex the joints. Therefore, when performing active flexion, each joint needs to be fully exercised.

[0003] Especially in the rehabilitation treatment of patients after hand trauma (tendon injury), active flexion rehabilitation exercises can promote blood circulation, accelerate healing, prevent adhesion, and at the same time enhance muscle strength and coordination. Active flexion rehabilitation exercises drive the tendon to slide in the tendon sheath through muscle contraction, which can reduce the adhesion between the repaired tendon and surrounding tissues and reduce the risk of "tendon entrapment". And actively contracting the muscle can stimulate muscle fibers and prevent disuse atrophy, which is particularly crucial for the strength recovery of finger flexors (such as the flexor digitorum profundus and flexor digitorum superficialis). For example, a patient had a rupture of the flexor tendon of the right middle finger due to a laceration. After tendon suture, the patient was transferred to rehabilitation treatment. The plaster was removed 3 weeks after the operation, and the affected finger was still swollen. The active flexion only reached 30°, and the metacarpophalangeal joint was stiff. Daily life actions such as holding chopsticks and wringing a towel were difficult. In the later stage, staged active flexion training was required according to the postoperative stage and individual recovery situation to improve joint mobility, prevent adhesion, and enhance muscle strength.

[0004] Currently, patients need to use rehabilitation devices for active flexion rehabilitation exercises. However, traditional rehabilitation devices perform simultaneous combined flexion exercises on finger joints, that is, simultaneous combined active flexion exercises of the DIP (distal interphalangeal joint), PIP (proximal interphalangeal joint), and MCP (metacarpophalangeal joint). This results in the fact that the active flexion ability of each joint is not fully exercised, thus causing the final combined flexion movement to be insufficient, so that the rehabilitation time to achieve full fist clenching ability is prolonged or due to insufficient rehabilitation exercise, resulting in final fist clenching dysfunction. Summary of the Invention

[0005] Aiming at the above existing problems, the purpose of the present invention is to provide a joint structure and a device for improving the combined flexion force of interphalangeal joints, so that the active flexion ability of each joint can be fully exercised and has a better exercise effect.

[0006] The technical solution of the present invention is: a joint structure, including a fixing part, a first resistance part and a second resistance unit. The fixing part includes two fixing members. The first resistance part includes a guide seat, a first resistance arm and a driving assembly. The guide seat is arranged on one of the fixing members. A first elastic member is arranged inside the guide seat, and a tooth groove is arranged at the bottom of the guide seat. One end of the first resistance arm is slidably arranged on the guide seat and contacts the first elastic member. A socket tooth is slidably arranged on the first resistance arm. When the first resistance arm slides on the guide seat, it compresses the first elastic member. The driving assembly is connected to the socket tooth and is used to drive the socket tooth to move so that the socket tooth is clamped in the tooth groove. The second resistance unit includes a sleeve, a piston and a valve group. A first connecting rod is arranged at one end of the sleeve away from the opening. The first connecting rod is hinged to the other end of the first resistance arm. A second elastic member is arranged inside the sleeve, and one end of the second elastic member is clamped on one side of the opening of the sleeve. The piston is slidably arranged in the sleeve. The piston and the side close to the closed end of the sleeve form a closed cavity inside the sleeve. The closed cavity is connected to the air through a connecting pipe. The side of the piston away from the closed end of the sleeve contacts the other end of the second elastic member. A second connecting rod is arranged on the side of the piston away from the closed end of the sleeve. The second connecting rod is hinged to the other fixing member. When the piston slides towards the opening side of the sleeve inside the sleeve, it compresses the second elastic member and pumps air into the closed cavity through the connecting pipe. The valve group is arranged on the connecting pipe and is used to control the on-off of the connecting pipe.

[0007] During actual use, the position of the linear sliding of the first resistance arm on the guide seat can be locked at any time by driving the socket tooth to move through the driving assembly so that the socket tooth is clamped in the tooth groove, that is, the linear displacement of the first resistance arm on the guide seat is controlled by whether the socket tooth is clamped in the tooth groove. And the on-off of the connecting pipe is controlled by the valve group to control whether the piston can be pulled. That is, when the valve group closes the connecting pipe, the closed cavity is disconnected from the atmosphere and forms a seal, and the piston is difficult to move further under the action of air pressure.

[0008] Further, the driving assembly adopts a first driving assembly. The first driving assembly includes a lead screw mechanism, a driving shaft and a driving motor. The lead screw mechanism includes a nut seat and a lead screw. The nut seat is rotatably arranged inside the first resistance arm, and a first bevel gear is sleeved outside the nut seat. One end of the lead screw is threadedly connected to the nut seat, and the other end is connected to the socket tooth. A limit block is arranged on the lead screw, and a limit groove for limiting the limit block is arranged inside the first resistance arm. A second bevel gear is arranged at one end of the driving shaft. The second bevel gear meshes with the first bevel gear. The driving motor is connected to the driving shaft and is used to drive the driving shaft to rotate.

[0009] In actual use, the drive motor drives the second bevel gear to rotate through the drive shaft. Since the second bevel gear meshes with the first bevel gear, the first bevel gear will be driven to rotate. The nut seat rotates coaxially with the first bevel gear. At this time, the lead screw threadedly connected to the nut seat will move downward, driving the groove teeth to continuously move, and then will be clamped in the tooth socket adjacent to the groove teeth. Through this process, the linear sliding of the first resistance arm on the guide seat is locked. When the drive motor drives the second bevel gear to rotate in the reverse direction through the drive shaft, the groove teeth will be controlled to disengage from the tooth socket. At this time, the first resistance arm starts to linearly slide on the guide seat.

[0010] Further, the drive assembly adopts a second drive assembly, and the second drive assembly includes an adjusting rod and a telescopic member. The adjusting rod includes a tail rod, a third elastic member, and a top rod. One end of the tail rod is connected to the groove teeth, one end of the third elastic member is connected to the other end of the tail rod, and one end of the top rod is connected to the other end of the third elastic member. The telescopic end of the telescopic member is connected to the other end of the top rod.

[0011] Furthermore, on one side of the bottom of the groove teeth close to the first elastic member, there is an inclined groove, and on the other side, there is a right-angle groove. The groove teeth and the tooth socket form a one-way locking structure.

[0012] When the telescopic member is in the extended state, through the one-way locking structure formed by the groove teeth and the tooth socket, and in cooperation with the structure of the adjusting rod, only the movement of the first resistance arm on the guide seat in the direction away from the first elastic member is locked, while the first resistance arm can still continue to move on the guide seat in the direction close to the first elastic member. When the telescopic member is in the contracted state, the groove teeth and the tooth socket do not contact, and the sliding of the first resistance arm on the guide seat is not affected.

[0013] Further, the second resistance unit further includes an adjusting assembly, and the adjusting assembly is used to adjust the initial elastic force of the second elastic member. In use, the initial resistance can be adaptively adjusted according to actual needs.

[0014] Furthermore, the adjusting assembly includes a base, a third connecting rod, and an adjusting ring. The base is slidably arranged in the sleeve. The base contacts the end of the second elastic member close to the opening of the sleeve. One end of the third connecting rod is arranged on the base. The adjusting ring is threadedly arranged on the outside of the sleeve. There is an annular groove on the side of the adjusting ring close to the sleeve. The other end of the third connecting rod passes through the sliding groove and is movably clamped in the annular groove. The sliding groove is arranged on the side wall of the sleeve.

[0015] Since the base contacts one end of the second elastic member, in actual use, by rotating the adjusting ring to adjust its actual position in the sleeve, the base is driven to move in the sleeve, thereby realizing the initial elastic force of the second elastic member. By adjusting the initial elastic force of the second elastic member, the change of the initial resistance when the piston slides toward the opening side of the sleeve inside the sleeve is realized.

[0016] A device for improving the combined flexion force of interphalangeal joints, comprising a control component and the joint structure, where there are n joint structures, and 2 ≤ n ≤ 3; the control component is electrically connected to the driving component and the valve group, and is used to control the operation of the driving component and the valve group.

[0017] Furthermore, two adjacent joint structures share a fixing part, and the second connecting rod of the previous joint structure is hinged on the fixing part with a guide seat of the next joint structure.

[0018] Furthermore, the control component includes an attitude acquisition component and a controller. The attitude acquisition component is used to acquire the attitude information of the finger joints. The controller is electrically connected to the attitude acquisition component, the driving component, and the valve group, and is used to receive the attitude information and control the operation of the driving component and the valve group when the attitude of the finger joints reaches the threshold.

[0019] Furthermore, the attitude acquisition component includes a pressure sensor and an angle sensor. The pressure sensor is arranged on the fixing part and is used to monitor the pressure at the contact between the fixing part and the finger; the angle sensor is arranged on the fixing part and is used to detect the movement angle of the finger joints.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: The joint structure of the present invention locks the position of the first resistance arm sliding linearly on the guide seat by whether the splines are clamped in the alveolar sockets, and controls the on-off of the connecting pipe through the valve group to control whether the piston can be pulled, thereby realizing the self-locking of the first resistance part and the self-locking of the second resistance unit, and can adaptively lock the first resistance part and the second resistance unit according to actual needs in actual use. The device for improving the combined flexion force of interphalangeal joints proposed by the present invention is based on the joint structure. In the actual active flexion rehabilitation exercise, the patient can not only perform combined flexion movement, but also perform targeted flexion assistance exercise for a single joint. When in use, the first resistance part and the second resistance unit of a certain joint structure can be locked according to needs, so as to facilitate targeted assisted blocked operation exercise for one or several joints among DIP, PIP, and MCP, enabling the active flexion ability of each joint to be fully exercised and having a better exercise effect. Description of the Drawings

[0021] Figure 1 is the overall structural schematic diagram of the joint structure of the present invention; Figure 2 is the partial cross-sectional view of the guide seat and the first resistance arm in Embodiment 1 of the present invention; Figure 3 is the cross-sectional view of the second resistance unit in Embodiment 1 of the present invention; Figure 4 is the partial structural schematic diagram of the second resistance unit in Embodiment 1 of the present invention; Figure 5 is a partial cross-sectional view of the guide seat and the first resistance arm in Embodiment 2 of the present invention; Figure 6 is a cross-sectional view of the second resistance unit in Embodiment 3 of the present invention; Figure 7 is a partial structural schematic diagram of the second resistance unit in Embodiment 3 of the present invention; Figure 8 is an exploded view of Embodiment 4 of the present invention; Figure 9 is a front view of Embodiment 4 of the present invention.

[0022] Wherein, 1 - fixing part, 11 - fixing member, 2 - first resistance part, 21 - guide seat, 211 - first elastic member, 212 - alveolar socket, 22 - first resistance arm, 220 - molar, 23 - driving assembly, 231 - lead screw mechanism, 2310 - first bevel gear, 2311 - nut seat, 2312 - lead screw, 232 - driving shaft, 233 - adjusting rod member, 2331 - tail rod, 2332 - third elastic member, 2333 - ejector rod, 234 - telescopic member, 3 - second resistance unit, 31 - sleeve, 310 - closed cavity, 311 - second elastic member, 32 - piston, 33 - adjusting assembly, 331 - base, 332 - third connecting rod, 333 - adjusting ring, 3330 - annular groove. Detailed Description of the Invention

[0023] The following is combined with Figures 1 to 9 , and the specific embodiments of the present invention will be described in detail. In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. 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, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0024] The terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features; in the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0025] It should be noted that the circuit connections involved in the present invention all adopt conventional circuit connection methods and do not involve any innovation.

[0026] Embodiment 1 As Figure 1A joint structure as shown includes a fixing part 1, a first resistance part 2 and a second resistance unit 3. The fixing part 1 includes two fixing members 11, such as Figure 1 , Figure 2 shown. The first resistance part 2 includes a guide seat 21, a first resistance arm 22 and a driving assembly 23. The guide seat 21 is arranged on one of the fixing members 11. A first elastic member 211 is arranged inside the guide seat 21, and a tooth socket 212 is arranged at the bottom of the guide seat 21. One end of the first resistance arm 22 is slidably arranged on the guide seat 21 and contacts the first elastic member 211. A spline tooth 220 is slidably arranged on the first resistance arm 22. When the first resistance arm 22 slides on the guide seat 21, it presses the first elastic member 211. The driving assembly 23 is connected to the spline tooth 220 and is used to drive the spline tooth 220 to move so that the spline tooth 220 is clamped in the tooth socket 212. As Figure 3 , Figure 4 shown, the second resistance unit 3 includes a sleeve 31, a piston 32 and a valve group. A first connecting rod is arranged at one end of the sleeve 31 far away from the opening. The first connecting rod is hinged to the other end of the first resistance arm 22. A second elastic member 311 is arranged inside the sleeve 31. One end of the second elastic member 311 is clamped on one side of the opening of the sleeve 31. The piston 32 is slidably arranged inside the sleeve 31. The piston 32 and the side close to the closed end of the sleeve 31 form a closed cavity 310 inside the sleeve 31. The closed cavity 310 is connected to the atmosphere through a connecting pipe. The side of the piston 32 far away from the closed end of the sleeve 31 contacts the other end of the second elastic member 311. A second connecting rod is arranged on the side of the piston 32 far away from the closed end of the sleeve 31. The second connecting rod is hinged to the other fixing member 11. When the piston 32 slides towards the opening side of the sleeve 31 inside the sleeve 31, it presses the second elastic member 311 and pumps air into the closed cavity 310 through the connecting pipe. The valve group is arranged on the connecting pipe and is used to control the on-off of the connecting pipe.

[0027] During actual use, the position of the linear sliding of the first resistance arm 22 on the guide seat 21 can be locked at any time by driving the spline tooth 220 to move through the driving assembly 23 so that the spline tooth 220 is clamped in the tooth socket 212, that is, the linear displacement of the first resistance arm 22 on the guide seat 21 is controlled by whether the spline tooth 220 is clamped in the tooth socket 212.

[0028] The closed cavity 310 is connected to the atmosphere through the connecting pipe, that is, the closed cavity 310 is connected to the atmosphere through the connecting pipe. The valve group controls the on-off of the connecting pipe: when the connecting pipe is connected, the closed cavity 310 is connected to the atmosphere, and the piston 32 can move inside the sleeve 31 under the action of a pulling force (or a pushing force); when the connecting pipe is disconnected, that is, the valve group controls the connecting pipe to be in a closed state, the closed cavity 310 is disconnected from the atmosphere and forms a sealed cavity. At this time, the piston 32 cannot move under the action of a pulling force (or a pushing force), mainly because of the air pressure effect, resulting in the piston 32 being unable to move inside the sleeve 31.

[0029] Preferably, as Figure 2 shown, the driving assembly 23 adopts a first driving assembly, and the first driving assembly includes a lead screw mechanism 231, a driving shaft 232 and a driving motor. The lead screw mechanism 231 includes a nut seat 2311 and a lead screw 2312. The nut seat 2311 is rotatably arranged inside the first resistance arm 22, and a first bevel gear 2310 is sleeved on the outer side of the nut seat 2311; one end of the lead screw 2312 is threadedly connected to the nut seat 221, and the other end is connected to the serrated teeth 220; a limiting block is arranged on the lead screw 2312, and a limiting groove for limiting the limiting block is arranged inside the first resistance arm 22. One end of the driving shaft 232 is provided with a second bevel gear, and the second bevel gear meshes with the first bevel gear 2310. The driving motor is connected to the driving shaft 232 for driving the driving shaft 232 to rotate.

[0030] In actual use, as Figure 2 shown, the driving motor drives the second bevel gear to rotate through the driving shaft 232. Since the second bevel gear meshes with the first bevel gear 2310, the first bevel gear 2310 will be driven to rotate accordingly. The nut seat 2311 rotates coaxially with the first bevel gear 2310. At this time, the lead screw 2312 threadedly connected to the nut seat 2311 will move downward, driving the serrated teeth 220 to continuously move, and then will be clamped in the tooth socket 212 adjacent to the serrated teeth 220. Through this process, the linear sliding of the first resistance arm 22 on the guide seat 21 is locked. When the driving motor drives the second bevel gear to rotate in the reverse direction through the driving shaft 232, the serrated teeth 220 will be controlled to disengage from the tooth socket 212. At this time, the first resistance arm 22 starts to linearly slide on the guide seat 21. Among them, in this embodiment, the driving motor adopts a commercially available forward and reverse motor.

[0031] It should be noted that: in actual use, since the driving assembly 23 proposed in this embodiment drives the serrated teeth 220 to move downward and lock itself, it is not exactly at the notch of the tooth socket 212 every time it approaches the position of the tooth socket 212. If it does not correspond to the notch position of the tooth socket 212, the first resistance arm 22 will continue to linearly slide on the guide seat 21 until the serrated teeth 220 reach the adjacent tooth socket 212 and are clamped in the tooth socket 212. During this process, since the linear sliding distance of the first resistance arm 22 on the guide seat 21 is very short, at most the width of one notch, it is ignored in actual use.

[0032] Embodiment 2 Different from Embodiment 1: Preferably, as Figure 5As shown in the figure, the driving component 23 adopts a second driving component, which includes an adjusting rod 233 and a telescopic member 234. The adjusting rod 233 includes a tail rod 2331, a third elastic member 2332, and a top rod 2333. One end of the tail rod 2331 is connected to the groove teeth 220, one end of the third elastic member 2332 is connected to the other end of the tail rod 2331, and one end of the top rod 2333 is connected to the other end of the third elastic member 2332. The telescopic end of the telescopic member 234 is connected to the other end of the top rod 2333.

[0033] It should be noted that: the telescopic member 234 can adopt a commercially available telescopic device or a structure that realizes telescoping by conventional means. In this embodiment, it is realized by using an airbag combined with an air charging and discharging device. As Figure 5 shown in the figure, the airbag is placed in the cavity opened inside the first resistance arm 22. The air charging and discharging device is not shown in the figure. The air charging and discharging device is connected to the airbag and is used to charge and discharge the air inside the airbag to adjust the actual volume of the airbag. Among them, the top rod 2333 is arranged at the bottom of the airbag. When the airbag is inflated, its actual volume increases, compressing the top rod 2333 to move downward, discharging the air from the airbag, its actual volume decreases, and driving the top rod 2333 to move upward. It should be noted that: during the process of discharging the air from the airbag, the connection between the airbag and the outside is closed after the air inside the airbag is discharged, that is, the airbag will not be affected by the gravity generated by the components below the top rod 2333. Preferably, the telescopic member 234 adopts a commercially available electric push rod.

[0034] Preferably, on one side of the bottom of the groove teeth 220 close to the first elastic member 211, there is an inclined groove, and on the other side, there is a right-angle groove. The groove teeth 220 and the tooth groove 212 form a one-way locking structure.

[0035] As Figure 5 shown in the figure, when the telescopic member 234 is in the extended state, through the one-way locking structure formed by the groove teeth 220 and the tooth groove 212, and in cooperation with the structure of the adjusting rod 233, only the movement of the first resistance arm 22 on the guide seat 21 in the direction away from the first elastic member 211 is locked, while the first resistance arm 22 can still continue to move on the guide seat 21 in the direction close to the first elastic member 211. The specific principle is: When the first resistance arm 22 continues to move on the guide seat 21 in the direction close to the first elastic member 211, the inclined groove of the groove teeth 220 slides out of the notch of the tooth groove 212. At this time, the groove teeth 220 drive the tail rod 2331 to compress the third elastic member 2332, and the third elastic member 2332 realizes displacement concession by relying on its own deformation.

[0036] And the right-angle groove on the side of the groove teeth 220 away from the first elastic member 211 is matched and fitted with the notch of the tooth groove 212 to achieve locking, effectively preventing the first resistance arm 22 from moving on the guide seat 21 in the direction away from the first elastic member 211.

[0037] In addition, when the telescopic member 234 is in a contracted state, the serrated teeth 220 are not in contact with the alveolar sockets 212, and the sliding of the first resistance arm 22 on the guide seat 21 is not affected.

[0038] Embodiment 3 Different from Embodiment 2: Preferably, as Figure 6 、 Figure 7 shown, the second resistance unit 3 further includes an adjustment assembly 33 for adjusting the initial elastic force of the second elastic member 311. During use, the initial resistance can be adjusted adaptively according to actual needs.

[0039] Preferably, the adjustment assembly 33 includes a base 331, a third connecting rod 332, and an adjustment ring 333. The base 331 is slidably disposed within the sleeve 31. The base 331 contacts one end of the second elastic member 311 near the opening of the sleeve 31. One end of the third connecting rod 332 is disposed on the base 331. The adjustment ring 333 is threadedly disposed outside the sleeve 31. A ring groove 3330 is provided on one side of the adjustment ring 333 close to the sleeve 31. The other end of the third connecting rod 332 passes through the sliding groove and is movably clamped within the ring groove 3330. The sliding groove is provided on the side wall of the sleeve 31.

[0040] Since the base 331 contacts one end of the second elastic member 311, during actual use, by rotating the adjustment ring 333 to adjust its actual position within the sleeve 31, the base 331 is driven to move within the sleeve 31, thereby realizing the adjustment of the initial elastic force of the second elastic member 311. By adjusting the initial elastic force of the second elastic member 311, the change of the initial resistance when the piston 32 slides toward the opening side of the sleeve 31 inside the sleeve 31 is realized.

[0041] Embodiment 4 As Figure 8 、 Figure 9 shown, a device for improving the combined flexion force of interphalangeal joints includes a control assembly and a joint structure. There are n joint structures, where 2 ≤ n ≤ 3; the control assembly is electrically connected to the drive assembly 23 and the valve group for controlling the operation of the drive assembly 23 and the valve group.

[0042] Preferably, adjacent two joint structures share a fixing member 11, and the second connecting rod of the upper joint structure is hinged to the fixing member 11 provided with the guide seat 21 of the lower joint structure.

[0043] Preferably, the control assembly includes an attitude acquisition member and a controller. The attitude acquisition member is used for acquiring the attitude information of finger joints. The controller is electrically connected to the attitude acquisition member, the drive assembly 23, and the valve group, and is used for receiving the attitude information and controlling the operation of the drive assembly 23 and the valve group when the attitude of the finger joints reaches a threshold value.

[0044] Preferably, the posture acquisition component includes a pressure sensor and an angle sensor. The pressure sensor is disposed on the fixing portion 1 for monitoring the pressure at the contact between the fixing portion 1 and the finger; the angle sensor is disposed on the fixing portion 1 for detecting the movement angle of the finger joint.

[0045] It should be noted that: since the active flexion training of the patient is carried out in stages, the threshold value here is not a fixed value. Taking the angle sensor as an example, in actual use, it is adaptively adjusted according to the patient's previous active flexion angle. For example, if the patient's previous active flexion only reaches 30°, the angle threshold is 25°. The reason why the threshold is smaller than the patient's actual active flexion angle is mainly to avoid muscle damage caused by excessive force of the patient. As the patient progresses through the exercise cycle, the active flexion angle will gradually recover, and the later angle threshold will also be adjusted accordingly with the patient's active flexion angle. The clinical standard for the active flexion angle range of the finger joint is: the active flexion angle of the metacarpophalangeal joint (MCP) is usually 80° - 90°, the active flexion angle of the proximal interphalangeal joint (PIP) is about 90° - 100°, and the active flexion angle of the distal interphalangeal joint (DIP) is about 70° - 90°. Therefore, the actual range of the angle threshold is less than or equal to the clinical standard.

[0046] It should be noted that: as Figure 9 shown, there are 3 joint structures in this embodiment. From the palm to the distal interphalangeal joint direction, the 3 joint structures can be regarded as robotic arm A, robotic arm B, robotic arm C, robotic arm D, robotic arm E, and robotic arm F in sequence. Among them, DIP is the distal interphalangeal joint, PIP is the proximal interphalangeal joint, and MCP is the metacarpophalangeal joint.

[0047] When practicing the combined flexion of DIP and PIP, initially, robotic arm D is locked. When the active flexion angle of PIP approaches the limit, robotic arm C can lock itself; subsequently, DIP continues to actively flex. At this time, robotic arm B is locked. When the active flexion of DIP approaches the limit angle, robotic arm A can lock itself.

[0048] When returning to the initial position, the moving arm can unlock itself in sequence. When exercising again, the robotic arms can be locked one by one in the order of robotic arm D, robotic arm C, robotic arm B, and robotic arm A, and the previous robotic arm can be actively pressurized.

[0049] Similarly, when practicing the combined flexion of PIP and MCP, the robotic arms lock themselves one by one in the order of robotic arm F, robotic arm E, robotic arm D, and robotic arm C, and when returning to the initial position, they can be unlocked in sequence in the order of robotic arm C, robotic arm D, robotic arm E, and robotic arm F.

[0050] When the three joints perform flexion exercises simultaneously, they are locked one by one in the order of robotic arm F, robotic arm E, robotic arm D, robotic arm C, robotic arm B, and robotic arm A; then they are unlocked one by one in the order of robotic arm A, robotic arm B, robotic arm C, robotic arm D, robotic arm E, and robotic arm F.

[0051] During the exercise process, the patient can make adaptive selections according to actual needs and perform active flexion rehabilitation exercises on a certain joint or multiple adjacent joints.

[0052] In addition, as Figure 9 shown, robotic arm A, robotic arm C, and robotic arm E correspond to the first resistance portion 2, and robotic arm B, robotic arm D, and robotic arm F correspond to the second resistance unit 3. Therefore, the locking of robotic arm A, robotic arm C, and robotic arm E is achieved by driving the driving component 23 to move the spline 220 so that the spline 220 is engaged in the tooth groove 212, while the locking of robotic arm A, robotic arm C, and robotic arm E is achieved by controlling the on-off of the connecting pipe through the valve group to control the pulling resistance of the piston 32.

[0053] The specific models of the above-mentioned electronic components are not specially specified and ordinary commercially available products can be selected as long as they can meet the usage requirements of the present invention.

[0054] The above specific embodiments have further detailed the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and do not limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the protection scope of the present invention.

Claims

1. A joint structure, characterized in that: include: The fixing part (1) comprises two fixing members (11); The first resistance part (2) comprises: a guide seat (21) arranged on one of the fixing members (11), a first elastic member (211) being arranged inside the guide seat (21), and a tooth groove (212) being arranged at the bottom of the guide seat (21); a first resistance arm (22) having one end slidably arranged on the guide seat (21) and in contact with the first elastic member (211), a groove tooth (220) being slidably arranged on the first resistance arm (22), and the first resistance arm (22) presses the first elastic member (211) when sliding on the guide seat (21); and a driving assembly (23) connected to the groove tooth (220) and used for driving the groove tooth (220) to move so that the groove tooth (220) is engaged in the groove (212); The second resistance unit (3) comprises: a sleeve (31), one end of which is away from the opening and is provided with a first connecting rod, the first connecting rod being hinged to the other end of the first resistance arm (22), a second elastic member (311) being provided inside the sleeve (31), one end of the second elastic member (311) being clamped on one side of the opening of the sleeve (31); a piston (32) being slidably arranged inside the sleeve (31), the piston (32) forming a closed chamber (310) inside the sleeve (31) and on a side close to the closed end of the sleeve (31), the closed chamber (310) being connected to the sleeve (31). The piston (32) is connected to air through a connecting pipe, and a side of the piston (32) away from the closed end of the sleeve (31) contacts the other end of the second elastic member (311). A second connecting rod is provided on the side of the piston (32) away from the closed end of the sleeve (31), and the second connecting rod is hinged to another fixing member (11). When the piston (32) slides inside the sleeve (31) toward the open side of the sleeve (31), it presses the second elastic member (311) and draws air into the closed chamber (310) through the connecting pipe. A valve group is provided on the connecting pipe and is used to control the connection and disconnection of the connecting pipe.

2. A joint structure according to claim 1, characterized in that: The driving assembly (23) adopts a first driving assembly, and the first driving assembly comprises: The screw mechanism (231) comprises: a nut seat (2311) rotatably arranged inside the first resistance arm (22), the outer side of the nut seat (2311) being sleeved with a first bevel gear (2310); a screw rod (2312) having one end threadedly connected to the nut seat (221) and the other end connected to the groove tooth (220); a limit block being arranged on the screw rod (2312), and a limit groove for limiting the limit block being arranged inside the first resistance arm (22); A driving shaft (232), one end of which is provided with a second bevel gear, the second bevel gear meshing with the first bevel gear (2310); A driving motor is connected to the driving shaft (232) and is used to drive the driving shaft (232) to rotate.

3. A joint structure according to claim 1, characterized in that: The driving assembly (23) adopts a second driving assembly, and the second driving assembly comprises: The adjusting rod (233) comprises: a tail rod (2331), one end of which is connected to the molar (220); a third elastic member (2332), one end of which is connected to the other end of the tail rod (2331); and a top rod (2333), one end of which is connected to the other end of the third elastic member (2332); A telescopic member (234) has a telescopic end connected to the other end of the top rod (2333).

4. A joint structure according to claim 3, characterized in that: The bottom of the molar (220) is provided with an oblique groove on one side close to the first elastic member (211), and a right-angle groove on the other side, and the molar (220) and the tooth groove (212) form a one-way locking structure.

5. A joint structure according to claim 1, characterized in that: The second resistance unit (3) further comprises an adjustment component (33), wherein the adjustment component (33) is used to adjust the initial elastic force of the second elastic member (311).

6. A joint structure according to claim 5, characterized in that: The regulating component (33) comprises: A base (331) is slidably disposed in the sleeve (31), and the base (331) is in contact with an end of the second elastic member (311) close to the opening of the sleeve (31); A third connecting rod (332), one end of which is disposed on the base (331); The adjusting ring (333) is threadedly arranged on the outside of the sleeve (31); a ring groove (3330) is arranged on a side of the adjusting ring (333) close to the sleeve (31); the other end of the third connecting rod (332) passes through the slide groove and is movably clamped in the ring groove (3330); the slide groove is arranged on the side wall of the sleeve (31).

7. A device for improving the combined flexion force of interphalangeal joints, comprising a control component, characterized in that: It also includes the joint structure described in any one of claims 1 to 6, there are n joint structures, 2≤n≤3; the control component is electrically connected to the drive component (23) and the valve group, and is used to control the operation of the drive component (23) and the valve group.

8. A device for improving the combined flexion force of interphalangeal joints as claimed in claim 7, characterized in that: Two adjacent joint structures share a fixing member (11), and the second connecting rod of the upper joint structure is hingedly connected to the fixing member (11) of the lower joint structure provided with a guide seat (21).

9. A device for improving the combined flexion force of interphalangeal joints as claimed in claim 7, characterized in that: The control component comprises: A posture acquisition component, used to collect posture information of finger joints; The controller is electrically connected to the posture acquisition component, the drive component (23) and the valve group, and is used to receive posture information and control the drive component (23) and the valve group to operate when the posture of the finger joint reaches a threshold.

10. A device for improving the combined flexion force of interphalangeal joints according to claim 9, characterized in that: The posture acquisition component comprises: A pressure sensor, arranged on the fixing portion (1), and used to monitor the pressure at the contact point between the fixing portion (1) and the finger; An angle sensor is arranged on the fixing part (1) and is used to detect the movable angle of the finger joint.

Images