Knee joint rehabilitation auxiliary equipment and method

Abstract

The invention discloses knee joint rehabilitation assisting equipment and method, solves the problems that a rehabilitation training device in the prior art is inconvenient to operate and not suitable for patients in the early rehabilitation stage, and has the beneficial effects that the operation is convenient, and secondary injury cannot be caused to the patients. A patient can lie flat on the bed board, the bed board supports the leg supporting mechanism, the leg supporting mechanism comprises a thigh support and a shank support, the thigh support is rotatably connected with the bed board, the thigh support is rotatably connected with the shank support, the shank support is connected with the sliding block, the sliding block is connected with the linear reciprocating motion mechanism, and the linear reciprocating motion mechanism is connected with the controller. The controller is provided with a control button, the control button is located on the side portion of the bed board, and the controller controls the linear reciprocating motion mechanism to reciprocate to drive the leg supporting mechanism to bend, so that the knee joint of the patient is driven to move.

Description

Technical Field

[0001] The present invention relates to the technical field of knee joint rehabilitation assistance, and in particular to a knee joint rehabilitation assistance device and method. Background Art

[0002] The statements in this part only provide background technical information related to the present invention and do not necessarily constitute prior art.

[0003] As a key weight-bearing joint of the lower limb, the knee joint has complex anatomical structures and kinematic characteristics. During exercise, the knee joint bears huge pressure, and if the exercise method is improper, sports injuries are likely to occur.

[0004] Therefore, many knee joint rehabilitation training devices have been designed in the prior art, and these rehabilitation training devices have the following problems:

[0005] Some devices require patients to operate while sitting. For patients with better knee joint recovery, this is convenient for operation. However, for patients in the early stage of postoperative rehabilitation, it is difficult to operate while sitting.

[0006] Some devices are only recovery devices and do not require patients to operate while sitting. However, because the whole device is not fixed and needs to be carried back and forth, it is not convenient to operate.

[0007] In some devices, the leg is supported by a bendable bracket, and rollers are provided on the bracket. Under the action of an external force, the bracket can move linearly. It is mainly intended to be actively controlled by the patient for the bracket. However, in the early stage of postoperative rehabilitation, since the patient's proprioception has not recovered, if the patient performs active control, it is basically impossible to achieve. If other accompanying personnel operate, there are problems of great operation difficulty and high labor intensity.

[0008] In order to perform active control, in some devices, the thigh side of the bracket is driven by a motor. Even if it is inclined, the whole leg is lifted relatively high, and there is a large stress in the thigh, which is not suitable for patients in the early stage of postoperative rehabilitation; moreover, directly driven by the motor, the moving speed of the bracket is relatively fast, resulting in a relatively large rigidity of the whole device, which is likely to cause problems such as excessive traction of the joint capsule and abnormal stress concentration on the cartilage surface, and it is easy to have excessive strength and angle, which is likely to cause secondary injuries to patients in the early stage of postoperative rehabilitation. Summary of the Invention

[0009] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide a knee joint rehabilitation assistance device, which is designed for patients in the early stage of postoperative rehabilitation, and improves the safety and efficiency of postoperative rehabilitation.

[0010] In order to achieve the above purpose, the present invention is realized by the following technical solutions:

[0011] A knee joint rehabilitation assistance device, including a bed board on which a patient lies flat. The bed board supports a leg support mechanism. The leg support mechanism includes a thigh bracket and a calf bracket. The thigh bracket is rotatably connected to the bed board, the thigh bracket is rotatably connected to the calf bracket, the calf bracket is connected to a slider, the slider is connected to a linear reciprocating motion mechanism, and the linear reciprocating motion mechanism is connected to a controller. The controller is provided with control buttons located on the side of the bed board. The controller controls the linear reciprocating motion mechanism to perform reciprocating motion to drive the leg support mechanism to perform bending motion, thereby driving the movement of the patient's knee joint.

[0012] For the assistance device described above, the patient lies on the bed board, and the thigh and calf of the patient are supported by the leg support mechanism. There is no need to sit. After lying down, the control button can be pressed, which is convenient for operation. The leg support mechanism is driven by the linear reciprocating motion mechanism to perform rehabilitation training. The calf bracket is connected to the slider to prevent the thigh bracket from being lifted too high. The whole is applicable to patients in the early postoperative rehabilitation stage.

[0013] For a knee joint rehabilitation assistance device as described above, the linear reciprocating motion mechanism includes a transmission rod. The transmission rod is connected to a power source through a speed reduction component. The transmission rod includes a screw rod, and the screw rod is in threaded cooperation with the slider. Part of the speed reduction component is installed in the hollow part at the bottom side of the leg support mechanism. The setting of the speed reduction component effectively controls the moving speed of the leg support mechanism and avoids excessive force and angle.

[0014] For a knee joint rehabilitation assistance device as described above, to make reasonable use of space, the bed board has a set height, the power source is arranged inside the bed board, the speed reduction component includes a worm and worm gear component, and a housing is installed at the bed board. The housing covers the speed reduction component, and the housing is close to the connection between the thigh bracket and the calf bracket, and the housing is reasonably arranged.

[0015] For a knee joint rehabilitation assistance device as described above, the bottom side of the calf bracket is connected to a U-shaped frame. The U-shaped frame is inclined relative to the calf bracket, and the angle between the U-shaped frame and the rear side of the calf bracket is 15° - 45°. The U-shaped frame is connected to the slider mentioned above, and the bed board is provided with a limit block to limit the movement of the slider. The inclined U-shaped frame prevents the calf bracket from being lifted to a higher position.

[0016] For a knee joint rehabilitation assistance device as described above, one end of the calf bracket far from the thigh bracket is hingedly connected to a foot support board, and a positioning block is arranged at the foot support board to support the patient's foot through the foot support board.

[0017] For a knee joint rehabilitation assistance device as described above, the thigh bracket includes two first brackets, and a first support pad is connected to the two first brackets on both sides. The first support pad is arc-shaped;

[0018] The calf support includes two second supports, which are respectively hinged to one end of the first support. The second support pads are connected to the second supports on both sides, and the second support pads are arc-shaped.

[0019] For a knee joint rehabilitation assistance device as described above, a plurality of control buttons are provided, and the control buttons are all connected to the controller. Under different control buttons, the moving speed of the linear motion mechanism is different, and the reciprocating distance of the slider is different.

[0020] For a knee joint rehabilitation assistance device as described above, the longitudinal section of the bed board is U-shaped, and a pillow can be placed or fixedly arranged on the side of the bed board away from the leg support mechanism.

[0021] For a knee joint rehabilitation assistance device as described above, the control buttons are arranged between the pillow and the leg support mechanism to facilitate operation by the patient after lying down.

[0022] In a second aspect, the present invention also provides a knee joint rehabilitation method, which uses the knee joint rehabilitation assistance device as described above and includes the following content:

[0023] The patient lies on the bed board, and the leg support mechanism supports the patient's legs. The patient's calves are placed on the calf support, and the patient's thighs are placed on the thigh support.

[0024] The patient operates the control buttons, and the controller controls the linear reciprocating motion mechanism to act, so as to drive the leg support mechanism to perform a bending motion, thereby driving the patient's knee joint to move.

[0025] The beneficial effects of the present invention are as follows:

[0026] 1) In the assistance device of the present invention, the patient lies on the bed board, and the thigh and calf of the patient are supported by the leg support mechanism. There is no need for the patient to sit. After lying down, the control buttons can be pressed, which is convenient for operation and is suitable for patients in the early postoperative rehabilitation stage. The bed board supports the leg support mechanism, and the patient can perform rehabilitation training while lying on the bed board without repeatedly moving the assistance device.

[0027] 2) In the present invention, the calf support in the leg support mechanism is connected to the slider, and the linear reciprocating motion mechanism drives the slider to perform a linear reciprocating motion, thereby driving the bending motion of the leg and performing rehabilitation training on the joint. It can actively drive the patients in the early postoperative rehabilitation stage to train without the assistance of others.

[0028] 3) In the present invention, the calf bracket is connected to the linear reciprocating motion mechanism, and the calf bracket is located at the rear side of the thigh bracket, rather than the thigh bracket being connected to the linear reciprocating motion mechanism. In this way, during the movement of the calf bracket, the thigh bracket will not be lifted too high, avoiding excessive stress on the thigh, enabling the overall stress distribution to be uniform, being applicable to patients in the early postoperative rehabilitation stage, and improving the safety of postoperative rehabilitation.

[0029] 4) In the present invention, the power source is connected to the linear reciprocating motion mechanism through a speed reduction component. The setting of the speed reduction component avoids the leg support mechanism from moving too fast, effectively controls the moving speed of the leg support mechanism, avoids excessive force and angle, and thus avoids causing secondary harm to the patient.

[0030] 5) The overall structure of the present invention is reasonably arranged and is an integrated structure, without the need for repeated handling. The patient can directly lie on the bed board, and the leg support mechanism supports the legs. The calf bracket is connected to the linear reciprocating motion mechanism, and the thigh bracket will not be lifted too high, avoiding causing secondary harm to the patient. During the process of the linear reciprocating motion mechanism connecting and driving the calf bracket to move, it drives the movement of the knee joint, reasonably controls the speed, and realizes actively driving the patient to perform passive rehabilitation training. The whole is applicable to patients in the early postoperative rehabilitation stage and effectively improves the rehabilitation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The specification drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0032] Figure 1 is a schematic diagram of a knee joint rehabilitation assistance device according to one or more embodiments of the present invention.

[0033] Figure 2 is a schematic diagram of the leg support mechanism in a knee joint rehabilitation assistance device according to one or more embodiments of the present invention.

[0034] Figure 3 is a schematic diagram of the setting of the driving gear and the driven gear in the speed reduction component of a knee joint rehabilitation assistance device according to one or more embodiments of the present invention.

[0035] Figure 4 is an enlarged schematic diagram of a partial structure in the speed reduction component of a knee joint rehabilitation assistance device according to one or more embodiments of the present invention.

[0036] In the figure: The distances or sizes between each part are exaggerated for showing the positions of each part, and the schematic diagram is only for illustration.

[0037] Among them: 101. Controller, 102. Control button, 103. Needle, 104. Bed board, 105. Limit block;

[0038] 2. Leg support mechanism, 201. Thigh bracket, 202. Calf bracket, 203. Foot support plate, 204. Support cloth, 205. Slide block, 206. Guide rail, 207. Extension rod, 208. U-shaped frame;

[0039] 3. Linear reciprocating motion mechanism, 301. Driving gear, 302. Driven gear, 303. Conveyor belt, 304. Connecting rod, 305. Worm, 306. Worm gear, 307. Transmission rod, 308. Housing. Detailed implementation mode

[0040] It should be noted that the following detailed description is illustrative and is intended to provide further illustration of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0041] It should be noted that the terms used herein are only for describing the specific implementation mode and are not intended to limit the exemplary implementation mode according to the present invention. As used herein, unless the present invention clearly states otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations;

[0042] As introduced in the background technology, there are problems in the existing knee joint rehabilitation equipment that it is not convenient to operate and is easy to cause damage to patients. In order to solve the above technical problems, the present invention proposes a knee joint rehabilitation assistance device.

[0043] Embodiment 1

[0044] In a typical implementation mode of the present invention, referring to Figure 1 As shown, a knee joint rehabilitation assistance device includes a bed board 104. The bed board 104 is for the patient to lie flat, and the bed board 104 supports the leg support mechanism 2. The leg support mechanism 2 includes a thigh bracket 201 and a calf bracket 202. The thigh bracket 201 is rotatably connected to the bed board 104, the thigh bracket 201 is rotatably connected to the calf bracket 202, the calf bracket 202 is connected to the slide block 205, the slide block 205 is connected to the linear reciprocating motion mechanism 3, the linear reciprocating motion mechanism 3 is connected to the controller, the controller is provided with a control button 102, and the control button 102 is located on the side of the bed board 104. The controller controls the linear reciprocating motion mechanism 3 to perform reciprocating motion to drive the leg support mechanism 2 to perform bending motion, thereby driving the movement of the patient's knee joint.

[0045] In this embodiment, the longitudinal section of the bed board 104 is U-shaped, that is, guard edges are provided on both sides of the bed board 104 to prevent the patient from falling off the bed board. A pillow can be placed or fixedly arranged on the side of the bed board 104 away from the leg support mechanism 2; the bed board 104 has a set height. To facilitate the patient to lie down, the height of the bed board is usually 30 cm - 50 cm, and the length of the bed board 104 is usually adapted to the height of a person.

[0046] It is easily understandable that the control buttons 102 are arranged between the pillow 103 and the leg support mechanism 2, near the position of the patient's hand after lying flat, so as to facilitate the operation after the patient lies down; there are multiple control buttons 102, and different control buttons 102 can all realize the control of the motor. The rotation speeds of the motor under different control buttons are different, and the reciprocating movement distances of the slider are different. When the rotation speed of the motor is relatively small, the reciprocating movement distance of the slider is relatively small, resulting in an excessive bending angle between the thigh bracket and the calf bracket.

[0047] Specifically, when programming the controller, different rotation speeds of the motor and different forward and reverse times are realized under different control buttons. The rotation speed of the motor is proportional to the forward and reverse times. For example, three control buttons are set. After the first control button is pressed, the rotation speed of the motor is within the first set range. The motor rotates forward for the first set time and then reverses, and reverses for the first set time. After the second control button is pressed, the rotation speed of the motor is within the second set range. The motor rotates forward for the second set time and then reverses, and reverses for the second set time; the second set range is greater than the first set range, and the second time is greater than the first set time.

[0048] In addition, a rotary encoder is arranged at the motor, and the rotary encoder is connected to the controller to receive the rotation speed of the motor.

[0049] Regarding the controller, the controller is a PLC controller. The controller is installed on the side wall of the bed board 104. The controller is connected to the power source in the linear reciprocating motion mechanism. The power source is specifically a motor. The bed board supports the motor. The bed board 104 is provided with a switch door. The motor is arranged near the switch door. After opening the switch door, the maintenance work of the motor can be carried out.

[0050] Reference Figure 2 As shown, the thigh bracket 201 includes two first brackets, and the two first brackets are arranged at an interval. The first support pad connects the first brackets on both sides, and the first support pad is arc-shaped; the calf bracket 202 includes two second brackets, and the two second brackets are arranged at an interval. The second brackets are respectively hinged to one end of the first brackets. The second support pad connects the second brackets on both sides, and the second support pad is arc-shaped.

[0051] Among them, the structures of the first bracket and the second bracket can be the same. Both include a transverse rod and a vertical rod. There are two transverse rods, and the two transverse rods are connected by multiple vertical rods to form the first bracket or the second bracket.

[0052] It should be noted that one end of the first bracket close to the bed board is hinged to the middle section of the bed board 104. The first bracket is hollow on the side close to the bed board 104. One end of the extension rod 207 is inserted into the hollow part of the first bracket and connected to the first bracket. The extension rod 207 can be provided with multiple bolt holes to adjust the length of the extension rod extending beyond the first bracket. The other end of the extension rod 207 is hinged to the second bracket.

[0053] Specifically, both the first support pad and the second support pad are made of support cloth 204, and the support cloth 204 is arc-shaped to support the patient's thigh or calf.

[0054] It can be understood that one end of the calf bracket away from the thigh bracket is hinged to the foot support plate 203. That is, an extension rod is also provided at one end of the second bracket away from the first bracket, and the extension rod is hinged to one side of the foot support plate. A positioning block is provided at the foot support plate to position the position of the heel, and the foot support plate is used to support the patient's foot.

[0055] Among them, the extension length of the extension rod 207 relative to the first bracket or the second bracket is adjustable, so that the leg support mechanism is suitable for use by patients of different heights.

[0056] In this embodiment, the bottom side of the calf bracket 202, that is, the bottom sides of the two second brackets, are connected to the U-shaped frame. The U-shaped frame 208 is inclined relative to the calf bracket. The angle between the U-shaped frame 208 and the rear side of the calf bracket 202 is 15°-45°. The distance between the connection point of the U-shaped frame 208 and the calf bracket and the foot support plate is less than the distance between the connection point and the hinge point of the thigh bracket and the calf bracket. The U-shaped frame is connected to the slider. The bed board 104 is provided with a limit block 105 to limit the movement of the slider. The limit block 105 is located at the end side of the screw rod. The limit block 105 is provided with a bearing to support the screw rod, so that the screw rod rotates relative to the limit block. The inclined U-shaped frame is connected to the rear side of the calf bracket close to the foot support plate, and the slider is away from the thigh bracket. This not only prevents the thigh bracket and the calf bracket from being raised to a relatively high position, but also is conducive to stress dispersion, avoiding stress concentration at the thigh bracket, effectively ensuring safety during the rehabilitation process, because it will not cause too much pressure on the patient's thigh, which is equivalent to being convenient for overall adjustment and also conducive to improving the rehabilitation efficiency.

[0057] In this embodiment, the linear reciprocating motion mechanism 3 includes a transmission rod 307. The transmission rod is connected to the power source through a speed reduction assembly. One section of the transmission rod 307 is a screw rod. The transmission rod 307 is arranged along the length direction of the bed board 104. The screw rod is arranged above the bed board body. The screw rod is in threaded cooperation with the slider 205. Part of the speed reduction assembly is installed in the hollow part at the bottom side of the leg support mechanism. The setting of the speed reduction assembly effectively controls the moving speed of the leg support mechanism, avoiding excessive force and angle.

[0058] To make rational use of space, the power source, i.e., the motor, is arranged in the bed board 104. The speed reduction assembly includes a worm and worm gear component. The motor is connected to the driving gear 301. Refer to Figure 3 and Figure 4 As shown, a distance is set between the driving gear 301 and the driven gear 302. The conveyor belt 303 is arranged around the driving gear 301 and the driven gear 302. The driven gear is connected to the connecting rod 304. The connecting rod 304 is arranged circumferentially with the worm 305. The worm 305 is in cooperation with the worm gear 306. The housing 308 is installed at the bed board. The housing 308 covers the worm gear 306 and the worm 305 in the speed reduction assembly. The housing 308 is close to the connection between the thigh support 201 and the calf support 202. The housing is reasonably arranged. The width of the housing 308 is smaller than the distance between the two first supports or the two second supports on both sides, avoiding interference between the housing and the first support 201 or the second support 202.

[0059] In this embodiment, through the settings of the gear transmission component and the worm and worm gear component, the conversion of the force direction is realized. Not only the moving speed of the slider is effectively reduced, making the moving speed of the slider 205 within a reasonable range and not too fast, but also due to the settings of the driving gear 301 and the driven gear 302, the motor can be arranged on the side of the bed board 104, facilitating the maintenance work of the motor.

[0060] To ensure the linear motion of the slider, both sides of the slider 205 are supported by the guide rails 206. The two ends of the guide rails are respectively supported by the limit blocks and the housing. The guide rails 206 are arranged on both sides of the screw rod.

[0061] For the auxiliary equipment provided in this embodiment, the bed board 104 and the leg support mechanism are of an integral structure, eliminating the need for repeated handling. The patient can directly lie on the bed board and the leg support mechanism supports the legs. The overall structure is reasonably set. The positions of the speed reduction assembly, control buttons, etc. are reasonably arranged, making the overall structure reasonable; the calf support 202 is connected to the linear reciprocating motion mechanism. The thigh support will not be lifted too high, avoiding secondary injury to the patient. During the process of the linear reciprocating motion mechanism 3 connecting and driving the calf support to move, the movement of the knee joint is driven. The speed is reasonably controlled to realize actively driving the patient for passive rehabilitation training. The whole is suitable for patients in the early postoperative rehabilitation stage, effectively improving the rehabilitation efficiency and the safety of rehabilitation.

[0062] Example 2

[0063] This embodiment provides a knee joint rehabilitation method, using a knee joint rehabilitation assistance device described in Example 1, including the following:

[0064] The patient first needs to lie on the bed board 104, lean the head on the pillow 103, and then place the legs on the support cloth 204 of the thigh bracket 201 and the calf bracket 202 respectively, which can provide necessary stability for the legs and knee joints and improve comfort at the same time;

[0065] When the patient presses the control button 102, the motor 101 can drive the rotation of the driving gear 301, drive the rotation of the driven gear 302 through the transmission of the conveyor belt 303, and then drive the rotation of the worm 305 through the connecting rod 304. The worm and the worm gear 306 directly transmit power through meshing with each other, with a compact structure and high transmission efficiency. Then, the screw at the transmission rod 307 is used to control the forward and backward movement of the slider 205, so that the patient can conveniently select the appropriate control button according to the condition of their own legs to adjust the bending degree of the legs during training, thereby improving the training effect and reducing the probability of secondary injury to the patient;

[0066] The knee joint rehabilitation assistance device provided in this embodiment ensures the safety of joint range of motion training while reducing the complexity of the device, meets the standardized training requirements in the early postoperative rehabilitation stage, effectively solves the problem of large stress in the thigh during rehabilitation training, and significantly improves the safety and efficiency of postoperative rehabilitation.

[0067] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A knee joint rehabilitation auxiliary device, characterized in that: The invention comprises a bed board, which is used for the patient to lie flat, and the bed board supports the leg support mechanism, and the leg support mechanism comprises a thigh support and a calf support, the thigh support is rotatably connected to the bed board, the thigh support is rotatably connected to the calf support, the calf support is connected to a slider, the slider is connected to a linear reciprocating motion mechanism, the linear reciprocating motion mechanism is connected to a controller, the controller is provided with a control button, the control button is located on the side of the bed board, the controller controls the linear reciprocating motion mechanism to perform reciprocating motion to drive the leg support mechanism to perform bending motion, thereby driving the movement of the patient's knee joint.

2. A knee joint rehabilitation auxiliary device according to claim 1, characterized in that: The linear reciprocating motion mechanism includes a transmission rod, which is connected to the power source through a reduction assembly. The transmission rod includes a screw rod, which cooperates with the slider through a threaded structure. Part of the reduction assembly is installed in the hollow part on the bottom side of the leg support mechanism.

3. A knee joint rehabilitation auxiliary device according to claim 2, characterized in that: The bed board has a set height, the power source is arranged in the bed board, the reduction assembly includes a worm gear component, the shell is installed on the bed board, the shell covers the reduction assembly, and the shell is close to the connection between the thigh support and the calf support.

4. The knee joint rehabilitation auxiliary device according to claim 1, characterized in that: The bottom side of the calf support is connected to the U-shaped frame, the U-shaped frame is tilted relative to the calf support, the angle between the U-shaped frame and the back side of the calf support is 15°-45°, the U-shaped frame is connected to the slider, and the bed board is provided with a limit block to limit the movement of the slider.

5. A knee joint rehabilitation auxiliary device according to claim 4, characterized in that: One end of the calf support away from the thigh support is hingedly connected to the foot support plate, and a positioning block is arranged at the foot support plate.

6. The knee joint rehabilitation auxiliary device according to claim 1, characterized in that: The thigh support comprises two first supports, the first support pads are connected to the first supports on both sides, and the first support pads are arc-shaped; The calf support includes two second supports, each of which is hingedly connected to one end of the first support, and a second support pad connects the second supports on both sides, and the second support pad is arc-shaped.

7. The knee joint rehabilitation auxiliary device according to claim 1, characterized in that: There are multiple control buttons, all of which are connected to the controller. Under different control buttons, the moving speed of the linear motion mechanism is different and the reciprocating distance of the slider is different.

8. The knee joint rehabilitation auxiliary device according to claim 1, characterized in that: The longitudinal section of the bed board is U-shaped, and a pillow can be placed or fixed on the side of the bed board away from the leg supporting mechanism.

9. The knee joint rehabilitation auxiliary device according to claim 8, characterized in that: The control button is arranged between the pillow and the leg supporting mechanism.

10. A knee joint rehabilitation method, characterized in that: A knee joint rehabilitation auxiliary device according to any one of claims 1 to 9, comprising the following contents: The patient lies on the bed board, and the patient's legs are supported by the leg support mechanism, the patient's calves are placed on the calf support, and the patient's thighs are placed on the thigh support; The patient operates the control button, and the controller controls the linear reciprocating motion mechanism to drive the leg support mechanism to perform bending motion, thereby driving the patient's knee joint to move.

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