3D printing total ankle prosthesis based on bionics principle

Abstract

The application relates to the technical field of medical devices, in particular to a 3D-printed whole-ankle prosthesis based on the bionics principle. The whole-ankle prosthesis comprises a bionic foot, a bionic lower leg and a bionic upper leg, the bionic lower leg is movably installed on the outer surface of the bionic foot, the outer surfaces of the bionic lower leg and the bionic upper leg are provided with heat dissipation mechanisms, the bionic upper leg is movably connected with the bionic lower leg through the heat dissipation mechanisms, and a self-adaptive fitting mechanism is arranged in the inner cavity of the bionic upper leg. The application can rotate the shaft gear connected through the double-sided tooth frame meshing connection, drive the half-face caliper connected with the shaft gear meshing connection to slide inward, pull the arc clamping plate inward for clamping through the pull rod, and press the second air bag to inflate the inside of the arc air bag through the second telescopic hose, so that the application can fit limbs of different sizes and shapes, and the elastic nylon sleeve guarantees the comfort and air permeability during fitting.

Description

Technical Field

[0001] The present invention relates to the field of medical devices and equipment, and more particularly to a 3D printed total ankle joint prosthesis based on bionics principles. Background Art

[0002] A prosthesis is a limb replacement and auxiliary device, mainly used for patients who have lost limbs due to accidents or other reasons, and plays a role in replacement and assistance in daily life. There are two common ways to install prostheses. The first is negative pressure installation, which uses a negative pressure chamber to install the human limb and the prosthesis; the second is osseointegration installation, which uses titanium alloy to implant into the bones, thereby using titanium alloy and prosthesis for installation.

[0003] Chinese patent publication number CN112842633B discloses a 3D-printed tibial intramedullary nail total ankle prosthesis, which is characterized by including a tibial fixation rod and a distal tibial total ankle prosthesis; the tibial fixation rod includes a tibial fixation rod body; the lower part of the tibial fixation rod body is provided as a distal tibial connector; the outer surface of the distal end of the distal tibial connector is provided as a cone, and the distal end of the distal tibial connector is provided with an internal threaded hole along the axial direction; the distal tibial total ankle prosthesis includes a distal tibial prosthesis, a polyethylene liner, and a calcaneal prosthesis; a tapered connecting hole is provided at the upper end of the distal tibial prosthesis, the distal end of the distal tibial prosthesis is tapered and inserted into the tapered connecting hole, the tapered connecting hole is provided with a screw hole connected to the arched opening, and the distal tibial prosthesis is connected to the tibial fixation rod by screwing a screw into the screw hole and the internal threaded hole.

[0004] Although the above application is suitable for prosthetic replacement of patients with distal tibial resection, and the axial arrangement of the wing plate and the groove makes the implantation of the prosthesis more stable and has good medium- and long-term stability, there are often some problems during use:

[0005] First, during the actual operation of the negative pressure chamber installation, it is necessary to first wrap the limb with a medium (such as cloth) and insert it into the cavity, and then extract the medium. The overall process is cumbersome and the success rate is low. In hot weather or when walking for a long time, the airtight negative pressure chamber can easily cause discomfort to the limbs.

[0006] Secondly, although the osseointegration type solves some of the problems of the first method, it is expensive and requires titanium alloy to be implanted into the limbs, which can easily cause physical discomfort to patients and is very inconvenient in daily life (such as going through security checks).

[0007] Third, both the negative pressure cavity and bone integration installation methods require the limb to be inserted into the cavity, but the cavity of the limb is customized according to the size of the limb. Once the patient gains weight or loses weight, the limb cannot be used. Summary of the Invention

[0008] In view of the problem that the blanking device in the prior art cannot be adjusted according to the blanking needs of steel bars of different lengths and specifications, and can only blank steel bars of fixed lengths, the purpose of the present invention is to provide a 3D printed total ankle prosthesis based on bionic principles.

[0009] In order to solve the above problems, the present invention adopts the following technical solutions:

[0010] A 3D-printed total ankle prosthesis based on bionic principles, comprising a bionic foot, a bionic calf, and a bionic thigh. The bionic calf is movably mounted on the outer surface of the bionic foot. The outer surfaces of the bionic calf and bionic thigh are provided with heat dissipation mechanisms. The bionic thigh is movably connected to the bionic calf via the heat dissipation mechanism. A partition is fixedly mounted on the inner surface of the bionic thigh, and the inner surface of the partition is symmetrically provided with sliding cavities. The inner cavity of the bionic thigh is provided with an adaptive fitting mechanism.

[0011] The adaptive fitting mechanism includes four parts: a clamping unit, a wrapping unit, a driving unit and a locking unit. The clamping unit includes two arc splints. A guide block is fixedly installed on the inner cavity surface of the bionic thigh. Pull rods are slidably installed in the through grooves symmetrically opened on the surface of the guide block. The two arc splints are respectively fixedly installed on one end of the two pull rods, and the other end of the two pull rods is fixedly installed with a half-surface caliper.

[0012] The wrapping unit includes two arc airbags, which are respectively glued and installed on the inner surfaces of the two arc splints. Two second airbags are symmetrically installed on the inner surface of the bionic thigh. The air outlet ends of the two second airbags are installed with second telescopic hoses, and the other ends of the two second telescopic hoses are respectively connected to the two arc airbags. The inner surfaces of the two second airbags are respectively installed with second springs, and the inner surfaces of the two arc airbags are glued and installed with elastic nylon sleeves.

[0013] Optionally, the driving unit includes a sliding rod that passes through and is slidably installed on the outer surface of the guide block, a conical pressure barrel is fixedly installed on one end of the sliding rod, a double-sided tooth frame is fixedly installed on the other end of the sliding rod, a fixing plate is symmetrically installed on the inner surface of the bionic thigh, limiting plates are symmetrically installed on the inner surfaces of the two fixing plates, and gears with shafts are symmetrically and rotatably installed on the inner surfaces of the two fixing plates.

[0014] Optionally, the two shaft gears are respectively meshed with the two side surfaces of the double-sided gear frame, the two shaft gears are meshed with the one side surface of the two half-surface calipers, and the two limit plates are slidingly connected with the other side surfaces of the two half-surface calipers.

[0015] Optionally, the locking unit includes a multi-position card plate, which is fixedly mounted on the lower surface of the double-sided gear frame, and the inner surfaces of the two sliding cavities are slidably mounted with sliding columns, one end of the two sliding columns is fixedly mounted with a card block, and the other end of the sliding column is fixedly mounted with a pull rope, the inner surfaces of the two sliding cavities are fixedly mounted with a third spring, and the inner surface of the bionic thigh is fixedly mounted with a micro hydraulic rod.

[0016] Optionally, the other end of the card block is arranged on the outside of the multi-position card plate, and the multi-position card plate is slidably connected through the surface of the partition, and the two side surfaces of the multi-position card plate are respectively engaged with the two card blocks, and the lower surface of the partition is fixedly connected to the working end of the micro hydraulic rod.

[0017] Optionally, pressure rods are symmetrically installed on the lower surface of the multi-position clamping plate.

[0018] Optionally, the heat dissipation mechanism includes four bolt rods, which are all inserted through and slidably mounted on the lower surface of the bionic thigh. An axle block is fixedly mounted on the other end of the four bolt rods, and a first spring is sleeved on the outer surface of the four bolt rods.

[0019] Optionally, a first airbag is fixedly installed on the upper surface of the shaft block, the other side surface of the first airbag is fixedly connected to the lower surface of the bionic thigh, a first telescopic hose is installed on the outer surface of the first airbag, the other end of the first telescopic hose is fixedly connected to the conical pressure barrel, and an air jet hole is opened on the outer surface of the conical pressure barrel.

[0020] Optionally, the bionic thigh is movably connected to the bionic calf via an axis block in the heat dissipation mechanism.

[0021] Compared with the prior art, the technical solution provided by the present invention has at least the following beneficial effects:

[0022] In the above scheme, the shaft gear connected to the double-sided tooth frame in the adaptive fitting mechanism rotates, driving the half-face caliper connected to the shaft gear to slide inward, thereby pulling the arc clamp inward for clamping through the pull rod, and at the same time the pressure rod presses the second airbag to inflate the interior of the arc airbag through the second telescopic hose, so that the airbag is inflated, so that it can adaptively fit limbs of different sizes and shapes, and the elastic nylon sleeve ensures comfort and breathability during fitting, and finally the final firm fixation is achieved through the engagement between the card block and the multi-position card plate.

[0023] By setting up a heat dissipation mechanism, the bionic thigh compresses four first springs on the four bolt rods to slide, and compresses the first airbag during sliding. At this time, the gas generated by the first airbag is transported to the conical pressure barrel through the first telescopic hose and blown toward the limb through the jet hole, and then discharged through the elastic nylon sleeve. While providing cushioning and shock absorption during walking, the limbs can also be cooled by blowing air, thereby ensuring the comfort of the patient's limbs when walking.

[0024] By providing a heat dissipation mechanism, the bionic thigh compresses the four first springs on the four bolt rods 3 to slide, thereby playing a buffering role when walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, further serve to explain the principles of the invention and to enable one skilled in the art to make and use the invention.

[0026] Figure 1 Schematic diagram of the overall structure of an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the four-part structure of the adaptive fitting mechanism of the present invention;

[0028] Figure 3 This is a schematic diagram of the internal connecting part structure of the bionic thigh of the present invention;

[0029] Figure 4 It is a schematic diagram of the coordination structure of the clamping unit, the wrapping unit, the driving unit and the engaging unit of the present invention;

[0030] Figure 5 This is a schematic diagram of the connection structure of the arc splint, arc airbag and elastic nylon sleeve of the present invention;

[0031] Figure 6 Schematic diagram of the internal structure of the second airbag of the present invention;

[0032] Figure 7 This is a schematic diagram of the matching structure between the bolt rod and the first spring of the present invention;

[0033] Figure 8 Schematic diagram of the air jet hole structure in the conical pressure barrel of the present invention;

[0034] Figure 9 Schematic diagram of the first airbag structure of the present invention;

[0035] Figure 10 For the present invention Figure 5 A in the middle is an enlarged structural diagram;

[0036] Figure 11 For the present invention Figure 4 Enlarged structural diagram at point B in the middle.

[0037] [Reference Signs]

[0038] 1. Bionic foot; 2. Bionic calf;

[0039] 3. Heat dissipation mechanism; 31. First airbag; 32. Bolt; 33. First spring; 34. First telescopic hose; 35. Jet hole; 36. Shaft block;

[0040] 4. Bionic thigh; 5. Partition; 6. Sliding cavity;

[0041] 7. Adaptive fitting mechanism;

[0042] 8. Clamping unit; 81. Guide block; 82. Pull rod; 83. Arc clamp; 84. Half-surface caliper;

[0043] 9. Wrapping unit; 91. Second airbag; 92. Second telescopic hose; 93. Arc airbag; 94. Elastic nylon sleeve; 95. Second spring; 96. Pressure rod;

[0044] 10. Drive unit; 101. Sliding rod; 102. Conical pressure barrel; 103. Double-sided gear frame; 104. Fixing plate; 105. Limiting plate; 106. Gear with shaft;

[0045] 11. Clamping unit; 111. Sliding column; 112. Clamping block; 113. Pull rope; 114. Third spring; 115. Multi-position clamping plate; 116. Micro hydraulic rod.

[0046] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0047] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. It is also noted that, to provide a more detailed description, the following embodiments are best and preferred embodiments, and those skilled in the art may employ alternative methods for implementing certain known technologies. Furthermore, the accompanying drawings are intended only to provide a more detailed description of the embodiments and are not intended to limit the present invention.

[0048] It should be noted that references in the specification to "one embodiment," "an embodiment," "exemplary embodiments," "some embodiments," etc. indicate that the described embodiments may include specific features, structures, or characteristics, but not necessarily every embodiment will include such specific features, structures, or characteristics. Furthermore, when specific features, structures, or characteristics are described in conjunction with an embodiment, it is within the knowledge of persons skilled in the relevant art to implement such features, structures, or characteristics in conjunction with other embodiments (whether or not explicitly described).

[0049] In general, terms can be understood, at least in part, from their use in context. For example, depending at least in part on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending at least in part on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0050] It will be understood that the meanings of “on,” “over,” and “above” in the present invention should be interpreted in the broadest manner, so that “on” means not only “directly on” something but also includes the meaning of being “on” something with intervening features or layers, and “on” or “above” means not only “on” or “above” something but also includes the meaning of being “on” or “above” something with no intervening features or layers.

[0051] Additionally, spatially relative terms such as "below," "beneath," "lower," "above," and "upper" may be used herein for descriptive convenience to describe the relationship of one element or feature to another element or features, as illustrated in the accompanying drawings. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially relative descriptors used herein should be similarly interpreted accordingly.

[0052] like Figures 1 to 11 As shown, an embodiment of the present invention provides a 3D printed total ankle prosthesis based on bionic principles, including a bionic foot 1, a bionic calf 2 and a bionic thigh 4, characterized in that the bionic calf 2 is movably mounted on the outer surface of the bionic foot 1, the outer surfaces of the bionic calf 2 and the bionic thigh 4 are provided with a heat dissipation mechanism 3, the bionic thigh 4 is movably connected to the bionic calf 2 through the heat dissipation mechanism 3, a partition 5 is fixedly mounted on the inner surface of the bionic thigh 4, a sliding cavity 6 is symmetrically opened on the inner surface of the partition 5, and an adaptive fitting mechanism 7 is provided in the inner cavity of the bionic thigh 4.

[0053] The adaptive fitting mechanism 7 includes four parts: a clamping unit 8, a wrapping unit 9, a driving unit 10 and a locking unit 11, wherein the clamping unit 8 includes two arc splints 83, a guide block 81 is fixedly installed on the inner cavity surface of the bionic thigh 4, and pull rods 82 are slidably installed in the through grooves symmetrically opened on the surface of the guide block 81, the two arc splints 83 are respectively fixedly installed on one end of the two pull rods 82, and the other end of the two pull rods 82 is fixedly installed with a half-face caliper 84, and the half-face caliper 84 is a caliper with multiple teeth only on the bottom, and the half-face caliper 84 is connected to the shaft gear 106 through the multiple teeth on the bottom.

[0054] Two through grooves and one through hole are provided on the surface of the guide block 81 , which guide the pull rod 82 and the slide rod 101 .

[0055] The wrapping unit 9 includes two arc airbags 93, which are respectively glued and installed on the inner surfaces of the two arc splints 83. Two second airbags 91 are symmetrically installed on the inner surface of the bionic thigh 4. The air outlet ends of the two second airbags 91 are installed with second telescopic hoses 92, and the other ends of the two second telescopic hoses 92 are respectively connected to the two arc airbags 93. The inner surfaces of the two second airbags 91 are installed with second springs 95, and the inner surfaces of the two arc airbags 93 are glued and installed with elastic nylon sleeves 94.

[0056] The second airbag 91 has a bidirectional output and input. When pressed, the arc airbag 93 is inflated. When the pressure is released, the second spring 95 restores the second airbag 91 to its original state, and the gas in the arc airbag 93 returns to the second airbag 91. The elastic nylon sleeve 94 is elastic and breathable, making the fit more comfortable to the limbs.

[0057] like Figure 3 、 Figure 4 、 Figure 7 and Figure 8 As shown, the driving unit 10 includes a sliding rod 101 that passes through and is slidably installed on the outer surface of the guide block 81, one end of the sliding rod 101 is fixedly installed with a conical pressure barrel 102, and the other end of the sliding rod 101 is fixedly installed with a double-sided gear frame 103, the inner surface of the bionic thigh 4 is symmetrically installed with a fixing plate 104, the inner surfaces of the two fixing plates 104 are symmetrically installed with a limiting plate 105, and the inner surfaces of the two fixing plates 104 are symmetrically and rotatably installed with a shaft gear 106.

[0058] The interior of the conical pressure barrel 102 is an air cavity, and the surface of the groove is made of silicone fluid material, which can better adapt to limbs of different sizes and types. The fixed plate 104 provides installation for the limit plate 105 and the shaft gear 106. The half-face caliper 84 is installed between the shaft gear 106 and the limit plate 105. While driving the sliding, it ensures that the sliding is smooth and will not deviate.

[0059] like Figure 4 As shown, the two shaft gears 106 are respectively meshed with the two side surfaces of the double-sided gear frame 103, the two shaft gears 106 are meshed with the one side surface of the two half-surface calipers 84, the two limiting plates 105 are slidingly connected with the other side surfaces of the two half-surface calipers 84, the limiting plates 105 are arranged above the shaft gears 106, and the half-surface caliper 84 is arranged between the limiting plates 105 and the shaft gears 106.

[0060] When the double-sided toothed frame 103 moves downward, the half-sided caliper 84 will slide inward. Since the four sides of the double-sided toothed frame 103 are hollow, the downward movement of the double-sided toothed frame 103 and the inward sliding of the half-sided caliper 84 do not affect each other.

[0061] like Figure 4 and Figure 7 As shown, the locking unit 11 includes a multi-position card plate 115, which is fixedly mounted on the lower surface of the double-sided gear frame 103, and the inner surfaces of the two sliding cavities 6 are slidably mounted with sliding columns 111, one end of the two sliding columns 111 is fixedly mounted with a card block 112, and the other end of the sliding column 111 is fixedly mounted with a pull rope 113, and the inner surfaces of the two sliding cavities 6 are both mounted with a third spring 114, and the two ends of the third spring 114 are respectively connected to the end of the sliding column 111 away from the card block 112 and the inner surface of the sliding cavity 6, and the inner cavity surface of the bionic thigh 4 is fixedly mounted with a micro hydraulic rod 116.

[0062] The pull rope 113 is pulled to stop the engagement between the multi-position clamping plate 115 and the clamping block 112 , and the original state can be restored by the micro hydraulic rod 116 .

[0063] like Figure 4 and Figure 7 As shown, the other end of the block 112 is arranged on the outside of the multi-position card plate 115, and the multi-position card plate 115 is slidably connected to the surface of the partition 5. The two side surfaces of the multi-position card plate 115 are respectively engaged with the two blocks 112, and the lower surface of the partition 5 is fixedly connected to the working end of the micro hydraulic rod 116, so that the partition 5 is pushed upward by the micro hydraulic rod 116, thereby restoring the conical pressure barrel 102 to its original position.

[0064] The multi-position card plate 115 has multiple card slots and can be fine-tuned.

[0065] like Figure 4 As shown, pressure rods 96 are symmetrically mounted on the lower surface of the multi-position clamping plate 115 .

[0066] The two pressing rods 96 will respectively press the second airbag 91 to inflate the arc airbag 93 .

[0067] like Figure 7 As shown, the heat dissipation mechanism 3 includes four bolt rods 32, and the four bolt rods 32 are all penetrated and slidably installed on the lower surface of the bionic thigh 4. The other ends of the four bolt rods 32 are fixedly installed with shaft blocks 36, and the outer surfaces of the four bolt rods 32 are all sleeved with first springs 33, and the two ends of the first spring 33 are fixedly connected to the upper surface of the shaft block 36 and the lower surface of the bionic thigh 4 respectively.

[0068] The four bolts 32 ensure the connection stability between the bionic thigh 4 and the shaft block 36 , and the first spring 33 and the bolts 32 provide a buffering effect.

[0069] like Figure 7 and Figure 9 As shown, a first airbag 31 is fixedly installed on the upper surface of the shaft block 36, and the other side surface of the first airbag 31 is fixedly connected to the lower surface of the bionic thigh 4. A first telescopic hose 34 is installed on the outer surface of the first airbag 31, and the other end of the first telescopic hose 34 is fixedly connected to the conical pressure barrel 102. An air jet hole 35 is provided on the outer surface of the conical pressure barrel 102.

[0070] The first airbag 31 has a one-way input and output. When the first airbag 31 is compressed, air is inflated into the inner cavity of the conical pressure barrel 102 through the first telescopic hose 34. When the first airbag 31 is expanded, air is inhaled through the air valve. The compression and expansion of the first airbag 31 are controlled by the compression and expansion of the first spring 33.

[0071] like Figure 1 and Figure 6 As shown, the bionic thigh 4 is movably connected to the bionic calf 2 via the shaft block 36 in the heat dissipation mechanism 3 .

[0072] The bionic thigh 4 and the bionic calf 2 form a bionic joint movement.

[0073] The working process of the technical solution provided by the present invention is as follows:

[0074] When wearing, the limb to be worn is placed in the groove of the cone pressure barrel 102 first, and the limb presses the cone pressure barrel 102 downward to drive the double-sided tooth frame 103 to move downward through the slide rod 101. As the double-sided tooth frame 103 moves downward, changes occur in the three parts.

[0075] When the double-sided gear frame 103 moves downward, it will drive the shaft gears 106 meshed with the two sides of the double-sided gear frame 103 to rotate. At the same time, the two shaft gears 106 will drive the half-sided caliper 84 meshed with the two shaft gears 106 to slide inward, thereby pulling the arc clamp 83 inward for clamping through the pull rod 82.

[0076] When the double-sided tooth frame 103 moves downward, the two pressure rods 96 will press the two second airbags 91 respectively. At this time, the gas inside the two second airbags 91 is transported to the inside of the two arc airbags 93 through the two second telescopic hoses 92, thereby inflating the arc airbags 93 to fit limbs of different sizes and shapes. The elastic nylon sleeve 94 ensures comfort and breathability during fitting.

[0077] Since the arc surface of the slot of the card plate 115 is matched with the arc surface of the card block 112, when the double-sided tooth frame 103 moves downward, the slot on the multi-position card plate 115 will press the card block 112 to compress the third spring 114 until the arc clamp 83 and the arc airbag 93 completely engage the limb. At this time, the card block 112 and the multi-position card plate 115 are engaged to the maximum extent.

[0078] By pulling the pull rope 113, the engagement between the card block 112 and the multi-position card plate 115 is disengaged. At this time, the card plate 115 is released from the card block 112, and the compressed micro hydraulic rod 116 will push the multi-position card plate 115 upward. When the card plate 115 is pushed upward, it will drive the conical pressure barrel 102 to move upward through the double-sided tooth frame 103 and the sliding rod 101, so that the conical pressure barrel 102 returns to its original position and can be detached from the wearer.

[0079] When walking, the bionic thigh 4 compresses the four first springs 33 on the four bolts 32 to slide, and compresses the first airbag 31 during sliding. At this time, the gas generated by the first airbag 31 is transported to the conical pressure barrel 102 through the first telescopic hose 34 and blown toward the limb through the air jet hole 35, and then discharged through the elastic nylon sleeve 94. While providing cushioning and shock absorption during walking, the limb can also be cooled by blowing air.

[0080] The present invention encompasses any alternatives, modifications, equivalents, and solutions that fall within the spirit and scope of the present invention. To provide a thorough understanding of the present invention, specific details are described in detail below in connection with the preferred embodiments of the present invention, but those skilled in the art will be able to fully understand the present invention without these detailed descriptions. Furthermore, to avoid unnecessary confusion regarding the essence of the present invention, well-known methods, processes, procedures, components, and circuits have not been described in detail.

[0081] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A 3D printed total ankle prosthesis based on bionic principles, comprising a bionic foot, a bionic calf, and a bionic thigh, characterized in that: The bionic calf is movably mounted on the outer surface of the bionic foot. The outer surfaces of the bionic calf and bionic thigh are provided with a heat dissipation mechanism. The bionic thigh is movably connected to the bionic calf via the heat dissipation mechanism. A partition is fixedly mounted on the inner surface of the bionic thigh. The inner surface of the partition is symmetrically provided with sliding cavities. An adaptive fitting mechanism is provided in the inner cavity of the bionic thigh. The adaptive fitting mechanism includes four parts: a clamping unit, a wrapping unit, a driving unit and a locking unit. The clamping unit includes two arc splints. A guide block is fixedly installed on the inner cavity surface of the bionic thigh. Pull rods are slidably installed in the through grooves symmetrically opened on the surface of the guide block. The two arc splints are respectively fixedly installed on one end of the two pull rods, and the other end of the two pull rods is fixedly installed with a half-surface caliper. The wrapping unit includes two arc airbags, which are respectively glued to the inner surfaces of the two arc splints. Two second airbags are symmetrically installed on the inner surface of the bionic thigh. The air outlet ends of the two second airbags are each installed with a second telescopic hose. The other ends of the two second telescopic hoses are respectively connected to the two arc airbags. The inner surfaces of the two second airbags are each installed with a second spring. The inner surfaces of the two arc airbags are glued with elastic nylon sleeves. Pressing the second airbag is used to inflate and deflate the arc airbags. The driving unit includes a sliding rod that passes through and is slidably mounted on the outer surface of the guide block, one end of the sliding rod is fixedly mounted with a conical pressure barrel, the other end of the sliding rod is fixedly mounted with a double-sided gear frame, the inner surface of the bionic thigh is symmetrically mounted with a fixing plate, the inner surfaces of the two fixing plates are symmetrically mounted with a limiting plate, and the inner surfaces of the two fixing plates are symmetrically and rotatably mounted with a shaft gear; The two shaft gears are respectively meshed with the two side surfaces of the double-sided gear frame, the two shaft gears are meshed with one side surface of the two half-surface calipers, and the two limit plates are slidably connected with the other side surfaces of the two half-surface calipers; The four sides of the double-sided tooth frame are hollowed out, so as not to affect the downward movement of the double-sided tooth frame and the inward sliding of the half-sided caliper; The locking unit is fixedly installed under the double-sided tooth frame, and a micro hydraulic rod is fixedly installed on the inner surface of the bionic thigh. The micro hydraulic rod is located below the locking unit. When the locking unit is released, the micro hydraulic rod lifts up and drives the double-sided tooth frame and the sliding rod to move upward, so that the wearer can be detached.

2. The 3D printed total ankle prosthesis based on bionic principles according to claim 1 is characterized in that: The engaging unit includes a multi-position card plate, which is fixedly mounted on the lower surface of the double-sided gear frame. The inner surfaces of the two sliding cavities are slidably mounted with sliding columns, one end of the two sliding columns is fixedly mounted with a card block, the other end of the sliding column is fixedly mounted with a pull rope, and the inner surfaces of the two sliding cavities are both mounted with a third spring; The other end of the card block is arranged on the outside of the multi-position card plate, and the multi-position card plate is slidably connected through the surface of the partition. The two side surfaces of the multi-position card plate are respectively engaged with the two card blocks, and the lower surface of the partition is fixedly connected to the working end of the micro hydraulic rod.

3. The 3D printed total ankle prosthesis based on bionic principles according to claim 2 is characterized in that: The lower surface of the multi-position clamping plate is symmetrically provided with a pressure rod, and the pressure rod presses the second air bag to inflate the arc air bag.

4. The 3D printed total ankle prosthesis based on bionic principles according to claim 1, characterized in that: The heat dissipation mechanism includes four bolt rods, which are all penetrated and slidably installed on the lower surface of the bionic thigh. The other ends of the four bolt rods are fixedly installed with shaft blocks, and the outer surfaces of the four bolt rods are all sleeved with first springs.

5. The 3D printed total ankle prosthesis based on bionic principles according to claim 4 is characterized in that: A first airbag is fixedly installed on the upper surface of the shaft block, the other side surface of the first airbag is fixedly connected to the lower surface of the bionic thigh, a first telescopic hose is installed on the outer surface of the first airbag, the other end of the first telescopic hose is fixedly connected to the conical pressure barrel, and an air jet hole is opened on the outer surface of the conical pressure barrel.

6. The 3D printed total ankle prosthesis based on bionic principles according to claim 4, characterized in that: The bionic thigh is movably connected to the bionic calf via an axis block in the heat dissipation mechanism.

Images