Artificial limb knee joint and artificial limb

Abstract

The invention discloses an artificial limb knee joint and an artificial limb. Core components of the artificial limb knee joint comprise a shell, a knee joint assembly, a shank connecting assembly, a pressure sensing assembly and a control assembly. The knee joint assembly is rotatably connected with the shell and is provided with a first connecting structure connected with the thigh artificial limb component; the shank connecting assembly is connected with the shank artificial limb component through a second connecting structure. The pressure sensor is installed at the rotating or connecting structure, and the control circuit board is arranged in the shell and electrically connected with the sensor so as to detect the motion state of the artificial limb. A pure mechanical sensing scheme is adopted, the problems of dependence of a visual sensor on light and drifting of an inertial sensor are solved, and the complex environment adaptability is remarkably improved. Moreover, the hardware structure of the single-mode pressure sensing system is simplified, and the cost and the data processing complexity are reduced; more comprehensive motion information is obtained through multi-position pressure distribution detection, the retreating action recognition accuracy is improved, and the safety and control convenience of the artificial limb in the scene of obstacle avoidance and the like are enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of prosthetics, and particularly to a prosthetic knee joint and a prosthetic limb. Background Art

[0002] In the technical field of prosthetics, accurately identifying the movement intention of the user by the prosthetic limb is the key to improving the mobility and quality of life of the prosthetic limb wearer. Among them, the accurate judgment of the backward movement is crucial for the safety and convenience of the prosthetic limb user in scenarios such as avoiding obstacles.

[0003] Currently, the prior art mainly realizes the recognition of the backward movement of the prosthetic limb user through means such as visual sensors and inertial sensors. Although these solutions can achieve the movement recognition goal to a certain extent, they have problems such as complex system structure, high cost, and difficult data processing. Moreover, they rely highly on the external environment, and the recognition effect significantly decreases in environments with insufficient light or complex terrain, unable to meet the usage requirements of prosthetic limb users in diverse scenarios. Summary of the Invention

[0004] The main object of the present invention is to propose a prosthetic knee joint and a prosthetic limb, aiming to solve the technical problems of complex system structure, high cost, difficult data processing, and high dependence on the external environment existing in the prior art when recognizing the backward movement of the prosthetic limb user.

[0005] To achieve the above object, the present invention proposes a prosthetic knee joint, comprising: A housing; A knee joint assembly, the knee joint assembly is rotatably arranged at the upper end of the housing, and the knee joint assembly includes a rotational connection structure for connecting with the housing and a first connection structure for connecting with the thigh prosthetic limb component; A calf connection assembly, the calf connection assembly is arranged at the lower end of the housing, and the calf connection assembly includes a second connection structure for connecting with the calf prosthetic limb component; A pressure sensing assembly, the pressure sensing assembly includes at least one pressure sensor, and the pressure sensor is installed on at least one of the rotational connection structure, the first connection structure, and the second connection structure; A control assembly, the control assembly includes a control circuit board, the control circuit board is arranged in the housing and is electrically connected to the pressure sensor, and is used for detecting the movement state information of the prosthetic limb according to the pressure data collected by the pressure sensor.

[0006] In some embodiments, the rotational connection structure includes a bearing seat and a rotating shaft. The bearing seat is rotationally connected to the housing through the rotating shaft, and the pressure sensor is disposed on the inner ring surface of the bearing seat and / or the outer ring surface of the rotating shaft for detecting the torque change when the knee joint assembly rotates.

[0007] In some embodiments, the first connection structure includes a ball head, and the pressure sensors are distributed on the outer wall surface of the ball head for detecting the pressure distribution between the thigh prosthetic component and the prosthetic knee joint.

[0008] In some embodiments, the second connection structure includes a sleeve rod. The sleeve rod is connected to the housing, and the pressure sensor is disposed on the sleeve rod for detecting the pressure between the calf prosthetic component and the prosthetic knee joint.

[0009] In some embodiments, the housing has an accommodation cavity inside, and a weight reduction structure is provided on the cavity wall of the accommodation cavity. The weight reduction structure includes: at least one groove provided on the cavity wall of the accommodation cavity; and / or, at least one hollow hole penetrating the inner surface and the outer surface of the cavity wall of the accommodation cavity.

[0010] In some embodiments, the housing includes a first half shell and a second half shell. The first half shell and the second half shell are spliced to form the accommodation cavity and an opening for installing the knee joint assembly; wherein, at least one of the first half shell and the second half shell is provided with the weight reduction structure.

[0011] In some embodiments, the weight reduction structure includes a plurality of hollow holes penetrating the inner surface and the outer surface of the cavity wall of the accommodation cavity, and the plurality of hollow holes are arranged at intervals along the edge of the opening.

[0012] In some embodiments, the prosthetic knee joint housing further includes a seal. The seal is detachably connected to the housing, and the seal seals the hollow holes.

[0013] In some embodiments, the seal includes a first sealing portion, a second sealing portion and an elastic connecting portion. The first sealing portion and the second sealing portion are arranged opposite to each other at intervals, and the elastic connecting portion connects the first sealing portion and the second sealing portion. The elastic connecting portion is configured to enable the first sealing portion and the second sealing portion to elastically open and close; wherein, the first sealing portion is detachably connected to the first half shell for sealing the hollow holes on the first half shell, and the second sealing portion is detachably connected to the second half shell for sealing the hollow holes on the second half shell.

[0014] The present invention also provides a prosthetic limb, which includes a thigh prosthetic component, a calf prosthetic component, and a prosthetic knee joint. The prosthetic knee joint is detachably connected to the thigh prosthetic component through the first connection part, and the prosthetic knee joint is detachably connected to the calf prosthetic component through the second connection part.

[0015] The prosthetic knee joint provided in this application is provided with pressure sensors in at least one of the rotational connection structure of the knee joint, the first connection structure for connecting to the thigh, and the second connection structure for connecting to the calf, to collect the pressure distribution data of each part during the movement of the knee joint in real time; the control circuit board analyzes these pressure distribution data, and combines the preset pressure characteristic database and the motion state mapping table to accurately identify motion intentions such as backward movement. Compared with the prior art, the pure mechanical perception scheme adopted in this application avoids the dependence on light of visual sensors and the drift problem of inertial sensors, greatly improving the adaptability to complex environments. Moreover, the single-modal pressure sensing system simplifies the hardware structure, reduces the equipment cost and the complexity of data processing; the multi-position pressure distribution detection provides more comprehensive motion characteristic information, improves the recognition accuracy of backward movement, and effectively enhances the safety and handling convenience of the prosthetic limb in scenarios such as avoiding obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of an embodiment of the prosthetic knee joint of the present invention; Figure 2 It is a disassembled schematic diagram of an embodiment of the prosthetic knee joint of the present invention; Figure 3 It is a schematic structural diagram of an embodiment of the housing of the present invention; Figure 4 It is a disassembled schematic diagram of an embodiment of the housing of the present invention.

[0017] The realization, functional features, and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] Next, the solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0019] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0020] It should also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element present at the same time. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intermediate element present at the same time.

[0021] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0022] Please refer to Figure 1 and Figure 2 , an embodiment of the present application provides a prosthetic knee joint 1000, which includes a housing 100, a knee joint assembly 200, a calf connection assembly 300, a pressure sensing assembly 400, and a control assembly 500; The knee joint assembly 200 is rotatably disposed at the upper end of the housing 100. The knee joint assembly 200 includes a rotational connection structure 201 for connecting with the housing 100 and a first connection structure 202 for connecting with the thigh prosthetic component; The calf connection assembly 300 is disposed at the lower end of the housing 100. The calf connection assembly 300 includes a second connection structure 301 for connecting with the calf prosthetic component; The pressure sensing assembly 400 includes at least one pressure sensor 401, and the pressure sensor 401 is installed on at least one of the rotational connection structure 201, the first connection structure 202, and the second connection structure 301; The control assembly 500 includes a control circuit board 501. The control circuit board 501 is disposed inside the housing 100 and is electrically connected to the pressure sensor 401, and is used to detect the motion state information of the prosthetic limb according to the pressure data collected by the pressure sensor 401.

[0023] Among them, the housing 100 serves as the main framework of the prosthetic knee joint 1000, provides support and protection for the internal components, plays a role in accommodating and fixing other components such as the knee joint assembly 200 and the control assembly 500, ensures that the components maintain a relatively stable positional relationship during movement, and at the same time plays a certain role in dust prevention, moisture prevention, etc. for the internal components, and guarantees the normal operation of the prosthetic knee joint 1000.

[0024] The knee joint assembly 200 is rotatably provided at the upper end of the housing 100. Its rotational connection structure 201 realizes the flexion and extension movement of the knee joint, simulates the movement mode of the human knee joint, and provides a natural-like movement experience for the prosthetic user; the first connection structure 202 is used to connect with the thigh prosthetic component, so that the prosthetic knee joint 1000 is firmly combined with the thigh prosthetic component, ensuring the effective transmission of the movement force, and thus realizing the coordinated movement of the entire prosthetic system.

[0025] The calf connection assembly 300 is provided at the lower end of the housing 100 and is connected to the calf prosthetic component through the second connection structure 301, connecting the prosthetic knee joint 1000 with the calf prosthetic component. During the movement of the prosthetic, it ensures a stable connection between the knee joint and the calf, enabling the movement to be smoothly transmitted from the knee joint to the calf and helping the user to complete actions such as walking and standing.

[0026] At least one pressure sensor 401 is installed in at least one of the rotational connection structure 201, the first connection structure 202, and the second connection structure 301. Its function is to sense in real time the pressure changes received by each key connection part during the movement of the prosthetic and convert the pressure changes into electrical signals, providing accurate pressure data for the control component 500. It is the key data acquisition component for realizing the detection of the prosthetic movement state.

[0027] The control circuit board 501 is provided in the housing 100 and is electrically connected to the pressure sensor 401. It receives the pressure data collected by the pressure sensor 401 and uses the preset algorithm inside to analyze and process the data. By analyzing the pressure data, it judges the current movement state information of the prosthetic, such as walking, standing, retreating, etc., providing a basis for the intelligent control of the prosthetic and being responsible for data processing and decision-making judgment.

[0028] The prosthetic knee joint 1000 of the embodiment of the present application is based on the pressure sensing technology. The pressure sensor 401 collects the pressure data at the installation position and converts the physical pressure signal into an electrical signal and transmits it to the control circuit board 501. The control circuit board 501 analyzes and processes the pressure data. According to the characteristics such as the change law and magnitude of the pressure data, it identifies the pressure differences generated by the prosthetic in different movement states, and then detects the movement state information of the prosthetic, realizing the real-time monitoring and judgment of the prosthetic movement state.

[0029] The prosthetic knee joint 1000 provided by this application sets pressure sensors 401 in at least one of the rotational connection structure 201 of the knee joint, the first connection structure 202 connected to the thigh, and the second connection structure 301 connected to the calf, and collects the pressure distribution data of each part during the movement of the knee joint in real time; the control circuit board 501 analyzes these pressure distribution data, combines the preset pressure characteristic database and the motion state mapping table, and accurately identifies motion intentions such as backward movement. Compared with the prior art, this application adopts a pure mechanical perception scheme to avoid the dependence on light of visual sensors and the drift problem of inertial sensors, greatly improving the adaptability to complex environments. Moreover, the single-modal pressure sensing system simplifies the hardware structure, reduces the equipment cost and the complexity of data processing; the multi-position pressure distribution detection provides more comprehensive motion characteristic information, improves the recognition accuracy of backward movement, and effectively enhances the safety and control convenience of the prosthetic limb in scenarios such as avoiding obstacles.

[0030] It should be noted that the pressure sensor 401 in this embodiment can be a strain-type pressure sensor 401, which measures pressure by changing the resistance value due to the force deformation of the strain gauge, with high precision and good stability; a piezoresistive pressure sensor 401 can also be used, which converts pressure into an electrical signal using the piezoresistive effect, with high sensitivity and fast response speed; the piezoelectric pressure sensor 401 is based on the piezoelectric effect and is suitable for dynamic pressure measurement, capable of quickly capturing pressure changes; in addition, the capacitive pressure sensor 401 detects pressure through capacitance changes, with the characteristics of high resolution and strong anti-interference ability. All these pressure sensors 401 can meet the pressure detection requirements of the prosthetic knee joint 1000.

[0031] Furthermore, at least one pressure sensor 401 is installed in at least one of the rotational connection structure 201, the first connection structure 202, and the second connection structure 301, and there are multiple situations: the pressure sensor 401 can be installed only in the rotational connection structure 201 to separately monitor the rotational torque of the knee joint assembly 200; or it can be set only in the first connection structure 202 to focus on detecting the pressure distribution between the thigh prosthetic component and the prosthetic knee joint 1000; it can also be installed only in the second connection structure 301 to obtain the pressure data between the calf prosthetic component and the prosthetic knee joint 1000; it can also be installed in pairs of the rotational connection structure 201 and the first connection structure 202, the rotational connection structure 201 and the second connection structure 301, and the first connection structure 202 and the second connection structure 301; even the pressure sensor 401 is installed on all of the rotational connection structure 201, the first connection structure 202, and the second connection structure 301 to comprehensively collect pressure information of different parts and provide more comprehensive and rich data for judging the motion state of the prosthetic limb.

[0032] In some embodiments, the rotational connection structure 201 includes a bearing seat 2011 and a rotating shaft 2012. The bearing seat 2011 is rotationally connected to the housing 100 through the rotating shaft 2012. The pressure sensor 401 is disposed on the inner ring surface of the bearing seat 2011 and / or the outer ring surface of the rotating shaft 2012 for detecting the torque change when the knee joint assembly 200 rotates.

[0033] Among them, the bearing seat 2011 and the rotating shaft 2012 cooperate to achieve the rotational function between the knee joint assembly 200 and the housing 100. The pressure sensor 401 is installed on its inner surface, which not only bears the role of transmitting the movement force but also serves as the installation carrier of the pressure sensor 401. Through the relative rotation with the rotating shaft 2012, the pressure sensor 401 can capture the torque change generated by the knee joint movement, providing a data source for the detection of the movement state.

[0034] The rotating shaft 2012 connects the housing 100 and the bearing seat 2011, providing stable support and a rotation axis center for the rotation of the knee joint assembly 200. When the prosthetic limb moves, the rotating shaft 2012 and the bearing seat 2011 work together to ensure the smoothness of the flexion and extension movement of the knee joint. At the same time, the pressure sensor 401 can also be installed on its outer ring surface. By cooperating with the pressure sensor 401 on the inner ring surface of the bearing seat 2011, the torque change during the rotation process can be comprehensively sensed, improving the accuracy and comprehensiveness of data acquisition.

[0035] When the prosthetic knee joint 1000 flexes and extends, relative rotation occurs between the bearing seat 2011 and the rotating shaft 2012. The pressure sensor 401 is disposed on the inner ring surface of the bearing seat 2011 and / or the outer ring surface of the rotating shaft 2012. During the rotation of the knee joint assembly 200, due to the transmission of the human movement force and the change of the joint movement posture, torques of different magnitudes and directions will be generated on the contact surface between the bearing seat 2011 and the rotating shaft 2012. The pressure sensor 401 senses these torque changes in real time and converts them into pressure data, which is transmitted to the control circuit board 501 in the form of an electrical signal. The control circuit board 501 analyzes the characteristics of the pressure data corresponding to the torque change, thereby accurately judging information such as the rotation angle, speed, and force state of the knee joint assembly 200, providing key data support for determining the overall movement state of the prosthetic limb.

[0036] In this embodiment, the pressure sensor 401 is disposed on the inner ring surface of the bearing housing 2011 and / or the outer ring surface of the rotating shaft 2012 to detect torque changes, greatly improving the accuracy and sensitivity of the motion state detection of the prosthetic knee joint 1000. This design can directly obtain the most critical mechanical data during the rotation of the knee joint, avoiding errors and delays that may be caused by indirectly reflecting the knee joint state through pressure data from other parts, enabling the control component 500 to more quickly and accurately judge the motion state of the prosthesis. At the same time, this direct detection method of the knee joint rotation torque can effectively distinguish the motion characteristics of the knee joint in different motion scenarios, such as the torque differences in the knee joint rotation during actions such as walking, running, going up and down stairs, etc., providing a richer and more accurate data basis for the intelligent control of the prosthesis in diverse motion scenarios.

[0037] In some embodiments, the first connection structure 202 includes a ball head 2021, and the pressure sensor 401 is distributed on the outer wall surface of the ball head 2021 for detecting the pressure distribution between the thigh prosthetic component and the prosthetic knee joint 1000.

[0038] Among them, the ball head 2021 serves as a hub connecting the thigh prosthetic component and the prosthetic knee joint 1000, undertaking the transmission of force. Its unique spherical structure can rotate flexibly in multiple directions, simulating some movement characteristics of the human hip joint, making the prosthesis more conform to the natural movement posture of the human body during movement. At the same time, the outer wall surface of the ball head 2021 provides an installation position for the pressure sensor 401. Through the pressure changes generated when it contacts the thigh prosthetic component, the pressure sensor 401 is used to collect pressure distribution data. The pressure sensor 401 is distributed on the outer wall surface of the ball head 2021 for real-time detection of the pressure distribution between the ball head 2021 and the thigh prosthetic component. By precisely sensing the pressure changes at different positions on the outer wall of the ball head 2021, the mechanical signal is converted into an electrical signal, providing intuitive and comprehensive pressure distribution data for the control component 500. These data can reflect information such as the force direction, force magnitude, and relative position relationship with the prosthetic knee joint 1000 of the thigh prosthetic component during movement, and are an important data source for the control circuit board 501 to analyze the motion state of the prosthesis.

[0039] During exercise, the prosthetic user's muscles generate force to drive the thigh prosthetic component, which is then transmitted to the prosthetic knee joint 1000 via the ball head 2021. Due to changes in movement posture, force direction, and force intensity, the contact area between the ball head 2021 and the thigh prosthetic component produces different pressure distributions. Pressure sensors 401, located on the outer surface of the ball head 2021, sense these changes in pressure distribution in real time, converting them into electrical signals and transmitting them to the control circuit board 501. The control circuit board 501 analyzes the pressure distribution data to obtain information such as the force state and relative motion trend between the thigh prosthetic component and the prosthetic knee joint 1000, providing a key basis for determining the overall motion state of the prosthetic.

[0040] In this embodiment, pressure sensors 401 are distributed on the outer surface of ball head 2021 to detect pressure distribution. This allows direct acquisition of pressure distribution information at the connection between the thigh prosthesis component and the prosthetic knee joint 1000. Compared to indirect detection methods, this data is more accurate and timely, effectively avoiding errors and delays caused by excessive data transmission links, and improving the accuracy of prosthetic motion state detection. Furthermore, by detecting the pressure distribution of ball head 2021, the force characteristics of the thigh prosthesis component in different motion scenarios can be accurately captured. For example, the changes in the pressure distribution of ball head 2021 during complex movements such as turning and jumping can provide the prosthetic control system with richer motion data, which helps achieve adaptive control of the prosthesis in complex motion scenarios.

[0041] In some embodiments, the second connection structure 301 includes a sleeve rod 3011 connected to the housing 100 , and a pressure sensor 401 is provided on the sleeve rod 3011 for detecting the pressure between the lower leg prosthesis component and the prosthetic knee joint 1000 .

[0042] The sleeve rod 3011, the main component of the second connecting structure 301, is securely connected to the housing 100 at one end and to the lower leg prosthesis at the other, ensuring a reliable connection between the lower leg prosthesis and the prosthetic knee joint 1000. During prosthetic movement, the sleeve rod 3011 not only transmits motion force but also provides a mounting support for the pressure sensor 401. Through its contact with the lower leg prosthesis, the sleeve rod 3011 transmits pressure changes generated during movement to the pressure sensor 401. This, in conjunction with the pressure sensor 401, completes data collection, ensuring that the prosthetic knee joint 1000 can perceive the motion status of the lower leg prosthesis in real time.

[0043] During the movement of a prosthetic user, the movement force of the human lower limb is transmitted to the sleeve rod 3011 through the prosthetic calf components. As the connection medium between the prosthetic calf components and the prosthetic knee joint 1000, the sleeve rod 3011 undertakes and conducts this part of the force. Due to the changes in the magnitude, direction, and acting point of the external force on the prosthetic calf components under different motion states such as walking, standing, and squatting, corresponding pressure changes will occur at the contact part between the sleeve rod 3011 and the prosthetic calf components. The pressure sensor 401 provided on the sleeve rod 3011 can capture these pressure changes in real time and convert them into electrical signals for transmission to the control circuit board 501. The control circuit board 501 analyzes and processes the pressure data to obtain information such as the force state and relative displacement between the prosthetic calf components and the prosthetic knee joint 1000, providing an important basis for accurately judging the overall motion state of the prosthetic limb.

[0044] Compared with the traditional connection and detection methods, this structure directly sets the pressure sensor 401 on the sleeve rod 3011, which can quickly and accurately obtain the pressure information between the prosthetic calf components and the prosthetic knee joint 1000, reduces the intermediate links of data acquisition, effectively improves the accuracy and real-time performance of the data, and further improves the accuracy of the prosthetic limb motion state detection. By detecting the pressure of the sleeve rod 3011 in the embodiments of the present application, the force characteristics of the prosthetic calf components in different motion scenarios can be effectively identified. For example, when moving on complex terrains such as uphill and downhill and crossing obstacles, the change law of the pressure of the sleeve rod 3011 provides richer motion data support for the prosthetic limb control system, helping to achieve the stable operation and adaptive adjustment of the prosthetic limb in complex environments.

[0045] Please refer to Figure 3 and Figure 4 , in some embodiments, the housing 100 has an accommodation cavity 10, and a weight reduction structure 20 is provided on the cavity wall of the accommodation cavity 10. The weight reduction structure 20 includes: At least one groove provided on the cavity wall of the accommodation cavity 10; and / or, At least one hollow hole 21 penetrating the inner surface and the outer surface of the cavity wall of the accommodation cavity 10.

[0046] Among them, the existence of the groove reduces the material distribution on the cavity wall without affecting the strength of the key load-bearing parts. For example, grooves are set in the area mainly subjected to bending stress. By reasonably designing the shape (such as rectangular, trapezoidal, etc.) and distribution (such as evenly spaced) of the grooves, the material usage in this area is reduced while meeting certain strength requirements, thereby achieving the purpose of weight reduction.

[0047] In some embodiments, the groove can be used as an assembly positioning groove. When installing the knee joint assembly 200, the groove can provide accurate positioning for the assembly, facilitating the installation operation and improving the assembly accuracy and efficiency.

[0048] The hollow holes 21 that penetrate the inner and outer surfaces of the cavity wall of the accommodation cavity 10 directly reduce the solid part of the material of the housing 100. The arrangement of these hollow holes 21 is based on the analysis of the forces on the cavity wall after the knee joint assembly 200 is installed, avoiding the key force paths. For example, circular, elliptical or polygonal hollow holes 21 are arranged in some areas with less shear force, which reduces the weight of the housing 100 while avoiding reducing the structural strength. Moreover, the hollow holes 21 can also increase the air permeability of the housing 100. For the knee joint assembly 200 with some built-in electronic components, it is beneficial to dissipate heat and prevent the components from deteriorating due to overheating.

[0049] In this embodiment, there are various implementation scenarios for the weight reduction structure 20 of the housing 100 of the prosthetic knee joint 1000: at least one groove can be separately arranged on the cavity wall of the accommodation cavity 10, and by changing the local structural form of the housing 100, the material distribution can be reduced without affecting the strength of the key load-bearing parts to achieve weight reduction; at least one hollow hole 21 penetrating the inner and outer surfaces of the cavity wall can also be separately arranged to directly remove the solid part of the material, and at the same time, the convection channel formed by it is used to assist the heat dissipation of the built-in electronic components; the groove and the hollow hole 21 can also be used in combination. The former optimizes the stress distribution and assists in assembly, and the latter greatly reduces the weight and enhances the air permeability. Through the complementary advantages, the light weight, structural stability and functionality of the housing 100 are further improved to meet the requirements of prosthetic users for mobility and comfort.

[0050] In this application, a weight reduction structure 20 is formed by arranging grooves and / or hollow holes 21 on the cavity wall of the accommodation cavity 10 of the housing 100 of the prosthetic knee joint 1000. The space structure optimization is used to replace the traditional material stacking method. The groove reduces the weight by cutting the local material volume of the cavity wall, and the hollow hole 21 further reduces the weight by forming a hollow structure through the cavity wall. The combination of the two effectively reduces the overall weight of the housing 100 on the premise that the accommodation cavity 10 can normally install the knee joint assembly 200. At the same time, the reasonable layout of the grooves and the hollow holes 21 can disperse the stress concentration area, avoid the strength reduction caused by weight reduction, and ensure that the housing 100 has good structural strength to provide reliable protection for the internal components. In addition, since the material usage is reduced, the production and manufacturing cost is reduced. The embodiment of this application not only meets the needs of prosthetic users for a lightweight and high-strength knee joint housing 100, reduces the movement burden, improves the movement flexibility and comfort, but also reduces the economic cost of patients.

[0051] In some embodiments, the housing 100 includes a first half shell 11 and a second half shell 12, and the first half shell 11 and the second half shell 12 are spliced to form an accommodation cavity 10 and an opening 13 for installing the knee joint assembly 200; Wherein, at least one of the first half shell 11 and the second half shell 12 is provided with a weight reduction structure 20.

[0052] In this embodiment, the housing 100 of the prosthetic knee joint 1000 is formed by splicing a first half-shell 11 and a second half-shell 12 to form a receiving cavity 10 and a component installation opening 13. At least one of the two is provided with a weight reduction structure 20. The groove can directly reduce the material volume to achieve weight reduction. At the same time, as an assembly positioning auxiliary structure, it can also adjust the stiffness distribution of the half-shell to avoid stress concentration. The hollow holes 21 reduce the weight by removing redundant materials. The formed air convection channels can ensure the heat dissipation of electronic components, and their diverse shape designs can also meet the personalized appearance requirements.

[0053] In addition, the weight reduction structures 20 of the two half-shells cooperate with each other to enhance the stability of the splicing part and optimize the adaptability between the housing 100 and the human lower limb. Moreover, the lightweight half-shell structure effectively reduces the action burden of the user, improves the activity flexibility and reduces fatigue, is more in line with the human movement characteristics, and improves the use comfort.

[0054] In some embodiments, the weight reduction structure 20 includes a plurality of hollow holes 21 that penetrate the inner surface and the outer surface of the cavity wall of the receiving cavity 10. The plurality of hollow holes 21 are arranged at intervals along the edge of the opening 13.

[0055] Among them, the opening 13 is a key area for the assembly and disassembly of the knee joint component 200 and is usually not the main stress-bearing part. By arranging the hollow holes 21 at intervals in this area, redundant materials can be removed to the greatest extent without affecting the overall structural strength of the housing 100 to achieve weight reduction.

[0056] Furthermore, the arrangement at intervals can not only ensure the connection strength of the cavity wall at the edge of the opening 13 and avoid structural weakness caused by excessive hollowing, but also form an air convection channel through reasonable layout to assist the heat dissipation of the built-in electronic components.

[0057] Please refer to Figure 2 , in some embodiments, the housing 100 of the prosthetic knee joint 1000 further includes a seal 30. The seal 30 is detachably connected to the housing 100, and the seal 30 seals the hollow holes 21.

[0058] Among them, by closely fitting the edge of the hollow hole 21, the seal 30 effectively isolates external moisture, dust and fine particles, preventing them from entering the receiving cavity 10 and causing corrosion, short circuit or mechanical jamming of the internal components, and greatly improving the durability and reliability of the prosthetic in complex environments.

[0059] Furthermore, the removable design makes seal 30 a key component in converting the function of hollow hole 21. During daily use of the prosthesis, especially in water-related, humid environments, or dusty working conditions, seal 30 can fit tightly around hollow hole 21. By deforming its elastic material (such as silicone or rubber), it fills the gaps in hollow hole 21, forming a physical barrier that prevents moisture, dust, and foreign matter from entering cavity 10, protecting the internal mechanical structure and electronic components from damage. When heat dissipation or assembly and debugging are required, seal 30 can be easily removed, allowing hollow hole 21 to resume its ventilation and positioning functions, achieving flexible functional conversion.

[0060] In this embodiment, the integrated design of seal 30 and hollow holes 21 enables the prosthetic knee joint 1000 housing 100 to operate stably in a variety of environments, including dry, humid, and dusty environments. This significantly broadens the prosthesis's usage scenarios and reduces the risk of failure due to environmental factors. Furthermore, the removable seal 30 enables dynamic switching of the hollow holes 21's functions, avoiding the compromise of lightweight or strength in traditional designs to balance protection and heat dissipation. This effectively integrates multiple functions, including protection, heat dissipation, and weight reduction.

[0061] In some embodiments, the sealing member includes a first sealing portion, a second sealing portion, and an elastic connecting portion, wherein the first sealing portion and the second sealing portion are spaced apart and arranged opposite to each other, and the elastic connecting portion connects the first sealing portion and the second sealing portion, and the elastic connecting portion is configured to enable the first sealing portion and the second sealing portion to be elastically opened and closed; The first sealing portion is detachably connected to the first half shell to seal the hollow hole on the first half shell, and the second sealing portion is detachably connected to the second half shell to seal the hollow hole on the second half shell.

[0062] Among them, the first sealing part 31 and the second sealing part 32 are respectively adapted to the hollow holes 21 of the first half shell 11 and the second half shell 12, and can perform targeted sealing according to the different structural characteristics and stress conditions of the two half shells, avoiding local lax sealing or excessive redundancy caused by a unified sealing design, effectively isolating moisture, dust and foreign matter, and protecting internal components in all directions.

[0063] In harsh environments such as water and dust, the first sealing part 31 fits tightly to the edge of the hollow hole 21 of the first half shell 11 through elastic deformation, and the second sealing part 32 simultaneously seals the hollow hole 21 of the second half shell 12, forming a double protective barrier to effectively prevent external foreign matter from invading the accommodating cavity 10.

[0064] The elastic connecting portion 33 can be made of a highly elastic material (such as silicone, TPE thermoplastic elastomer), and connects the first sealing portion 31 and the second sealing portion 32 that are spaced apart and opposite to each other, so that the two have elastic expansion and contraction capabilities through their own elastic deformation.

[0065] During the installation process, the elastic connection part 33 allows the first sealing part 31 and the second sealing part 32 to adaptively adjust the distance, accurately fit the edges of the hollow holes 21 of the first half shell 11 and the second half shell 12, and ensure the sealing tightness. When the prosthetic limb is in a moving state, the elastic connection part 33 absorbs the relative displacement generated by the human body movement between the two half shells, avoids hard friction or detachment between the sealing part and the housing 100, and continuously maintains the sealing effect. At the same time, the elastic expansion and contraction characteristics enable the sealing member 30 to be integrally expanded during disassembly, without separately disassembling the first sealing part 31 and the second sealing part 32, improving the operation convenience.

[0066] In this embodiment, the adaptive adjustment and movement buffering characteristics of the elastic connection part 33 effectively solve the problem of sealing failure caused by the deformation of the housing 100 of the traditional sealing member, and can still maintain excellent sealing performance in a dynamic use environment, reducing the risk of internal components being eroded by the environment. Moreover, the elastic adjustment ability of the elastic connection part 33 enables it to adapt to the first half shell 11 and the second half shell 12 of different models and sizes. When the product is iterated or diversely designed, there is no need to re-design the overall structure of the sealing member 30, and only local parameters need to be adjusted to achieve compatibility, improving the design efficiency and product versatility.

[0067] In some embodiments, the sealing member 30 and the housing 100 are fixedly connected by screws; and / or, The sealing member 30 is made of a translucent material.

[0068] Among them, by presetting screw holes at the edge of the sealing member 30 to accurately match the threaded holes at the corresponding positions of the housing 100, and using the axial force generated by tightening the screws, the sealing member 30 is tightly attached to the hollow hole 21 area, ensuring reliable sealing under complex motion conditions. The screw fixing method allows the sealing member 30 to be finely adjusted according to the actual sealing effect after installation, enhancing the assembly flexibility.

[0069] The sealing member 30 can be made of a polymer material with good light transmittance such as polycarbonate (PC) or polymethyl methacrylate (PMMA). While maintaining the sealing performance, it enables users or maintenance personnel to directly observe the operating state of the electronic components in the accommodation cavity 10, whether there is abnormal wear or liquid intrusion, etc., and realizes non-detachable rapid fault detection.

[0070] In this embodiment, the screw fixed connection improves the connection strength between the sealing member 30 and the housing 100. Compared with the traditional snap or adhesive methods, in the long-term use and high-dynamic motion environment, it reduces the risk of the sealing member 30 falling off, effectively ensuring the protection performance of the prosthetic limb in various scenarios. Moreover, the combination of the visual monitoring function of the translucent material and the convenient disassembly characteristics of the screw fixing shortens the fault detection time, makes the maintenance operation simpler and more intuitive, reduces unnecessary disassembly and misjudgment, and reduces the maintenance cost.

[0071] In some embodiments, the first half shell 11 and the second half shell 12 are of an integrally formed structure or are fixedly connected through a detachable connection structure.

[0072] Among them, the first half shell 11 and the second half shell 12 are manufactured by an integrally formed process (such as injection molding, die casting). Utilizing the overall structure of the mold, the raw materials are directly formed into a complete housing 100 component under high temperature and high pressure, so that there is no splicing gap between the first half shell 11 and the second half shell 12, forming a continuous and uniform mechanical structure. When bearing the load generated by human movement, the stress can be evenly conducted through the integrated housing 100, avoiding structural damage caused by stress concentration at the splicing point. At the same time, the integrally formed process reduces the assembly link and reduces the risk of performance loss caused by assembly errors, ensuring the consistency and stability of the housing 100 structure.

[0073] When the first half shell 11 and the second half shell 12 adopt a detachable connection method, such as snap connection, screw connection, mortise and tenon connection, etc. Taking the snap connection as an example, by setting mutually matching convex buttons and grooves on the edges of the first half shell 11 and the second half shell 12, the elastic property of the material is utilized to achieve rapid assembly and disassembly; the screw connection is fastened through preset threaded holes and screws, providing high-strength connection stability and allowing disassembly at any time when necessary for overhauling internal components. The detachable connection structure enables the first half shell 11 and the second half shell 12 to have flexible disassembly ability while meeting the overall mechanical performance, facilitating the maintenance, replacement of internal parts or upgrading of functional modules.

[0074] In some embodiments, an installation structure 14 for installing the knee joint assembly 200 is provided on the inner side of the cavity wall of the accommodation cavity 10. The installation structure 14 includes at least one of an installation boss, a positioning post, and a positioning groove; the installation structure 14 is arranged in a non-hollowed-out area between adjacent hollow holes 21.

[0075] Among them, the installation boss provides a support plane for the component through a locally protruding structure, dispersing the pressure at the installation part and enhancing the connection stability; the positioning post cooperates with the positioning hole on the component, or the positioning groove cooperates with the protruding structure of the component, and the precise positioning of the component is realized by using the mechanical limiting principle, avoiding installation deviation.

[0076] In the embodiment of the present application, the installation structure 14 is arranged in the non-hollowed-out area, making full use of the strength advantage of the complete part of the cavity wall material. While achieving the weight reduction effect of the hollow holes 21, it avoids adding extra materials due to installation requirements, maintaining the balance between the overall light weight and high strength of the housing 100 and reducing the action burden of the user.

[0077] An embodiment of the present application further provides a prosthetic limb, which includes a thigh prosthetic component, a calf prosthetic component, and the prosthetic knee joint 1000 as described above. The prosthetic knee joint 1000 is detachably connected to the thigh prosthetic component through a first connecting portion, and the prosthetic knee joint 1000 is detachably connected to the calf prosthetic component through a second connecting portion. Since the prosthetic limb adopts all the technical solutions of all embodiments of the above prosthetic knee joint 1000, the prosthetic limb of the present invention also has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated here one by one.

[0078] The above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is impossible to list all the implementation manners here. Any obvious changes or variations derived from the technical solutions of the present invention still fall within the protection scope of the present invention.

Claims

1. A prosthetic knee joint, characterized in that, Comprising: A housing; A knee joint assembly rotatably provided at the upper end of the housing, the knee joint assembly including a rotational connection structure for connecting with the housing and a first connection structure for connecting with a thigh prosthetic component; A calf connection assembly provided at the lower end of the housing, the calf connection assembly including a second connection structure for connecting with a calf prosthetic component; A pressure sensing assembly including at least one pressure sensor, the pressure sensor being mounted on at least one of the rotational connection structure, the first connection structure, and the second connection structure; A control assembly including a control circuit board provided inside the housing and electrically connected to the pressure sensor for detecting the motion state information of the prosthetic limb according to the pressure data collected by the pressure sensor.

2. The prosthetic knee joint according to claim 1, characterized in that, The rotational connection structure includes a bearing seat and a rotating shaft, the bearing seat being rotatably connected to the housing through the rotating shaft, and the pressure sensor being provided on the inner surface of the inner ring of the bearing seat and / or the outer surface of the outer ring of the rotating shaft for detecting the torque change when the knee joint assembly rotates.

3. The prosthetic knee joint according to claim 1, characterized in that, The first connection structure includes a ball head, and the pressure sensors are distributed on the outer wall surface of the ball head for detecting the pressure distribution between the thigh prosthetic component and the prosthetic knee joint.

4. The prosthetic knee joint according to claim 1, characterized in that, The second connection structure includes a sleeve rod connected to the housing, and the pressure sensor is provided on the sleeve rod for detecting the pressure between the calf prosthetic component and the prosthetic knee joint.

5. The prosthetic knee joint according to claim 1, wherein, The interior of the housing has a receiving cavity, and the cavity wall of the receiving cavity is provided with a weight reduction structure, the weight reduction structure including: At least one groove provided on the cavity wall of the receiving cavity; and / or, At least one hollow hole penetrating the inner surface and the outer surface of the cavity wall of the receiving cavity.

6. The prosthetic knee joint according to claim 5, characterized in that, The housing includes a first half shell and a second half shell, and the first half shell and the second half shell are spliced to form the receiving cavity and an opening for installing the knee joint assembly; Wherein, at least one of the first half shell and the second half shell is provided with the weight reduction structure.

7. The prosthetic knee joint according to claim 6, characterized in that, The weight reduction structure includes a plurality of hollow holes penetrating the inner surface and the outer surface of the cavity wall of the receiving cavity, and the plurality of hollow holes are arranged at intervals along the edge of the opening.

8. The prosthetic knee joint according to claim 7, characterized in that, The prosthetic knee joint housing further includes a seal, the seal being detachably connected to the housing and sealing the hollow holes.

9. The prosthetic knee joint according to claim 8, characterized in that, The seal includes a first sealing portion, a second sealing portion, and an elastic connection portion, the first sealing portion and the second sealing portion being arranged opposite to each other at intervals, and the elastic connection portion connecting the first sealing portion and the second sealing portion, and the elastic connection portion being configured to enable the first sealing portion and the second sealing portion to elastically open and close; Wherein, the first sealing portion is detachably connected to the first half shell for sealing the hollow holes on the first half shell, and the second sealing portion is detachably connected to the second half shell for sealing the hollow holes on the second half shell.

10. A prosthetic limb, characterized in that, Comprising a thigh prosthetic component, a calf prosthetic component, and a prosthetic knee joint as described in any one of claims 1 to 9, wherein the prosthetic knee joint is detachably connected to the thigh prosthetic component through the first connecting portion, and the prosthetic knee joint is detachably connected to the calf prosthetic component through the second connecting portion.

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