Joint rehabilitation orthosis

Abstract

This invention relates to the field of medical devices, specifically disclosing a joint rehabilitation orthosis, comprising a walking cart and two bionic exoskeletons. The walking cart includes a main frame with front and rear wheels at its front and rear ends, respectively. An opening is located at the front end of the main frame, and connecting rods are movably mounted on both sides. The front wheels are located at the lower ends of the connecting rods, which have handrails. Support friction rods are mounted on the main frame, and upper body connection mechanisms are symmetrically arranged on the main frame. The bionic exoskeleton includes a lower limb support mechanism and a knee joint linkage mechanism. The lower limb support mechanism includes a thigh fixation part and an adjustable-length bionic support leg. The upper end of the bionic support leg is connected to the thigh fixation part, and the lower end is foot-shaped. An elastic band is mounted on the bionic support leg. The knee joint linkage mechanism includes a thigh binding band and a calf binding band, with the thigh binding band axially connected to the calf binding band via a pivot. This invention can effectively assist patients in joint rehabilitation training and improve training outcomes.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically relating to a joint rehabilitation orthosis. Background Technology

[0002] The knee joint is one of the largest and most complex joints in the human body, playing a vital role in supporting body weight and facilitating movement. With the increasing aging of the population and the rise in various accidental injuries, the incidence of knee dysfunction is climbing year by year, becoming a significant public health issue globally.

[0003] Knee dysfunction is commonly seen in clinical situations such as knee fractures, meniscus injuries, anterior / posterior cruciate ligament ruptures, and knee replacement surgery. Patients with knee dysfunction usually need to restore their joint mobility through rehabilitation training. If rehabilitation training is not timely or standardized, it can easily lead to problems such as joint stiffness, soft tissue adhesions, limited flexion and extension functions, and even gait abnormalities, which seriously affect the patient's quality of life.

[0004] Currently, commonly used knee rehabilitation methods in clinical practice mainly fall into two categories: traditional manual correction and mechanically assisted correction. Traditional manual correction relies primarily on physicians or rehabilitation therapists to perform flexion and extension training through manual manipulation. Although it can be personalized according to the patient's condition, it is highly dependent on the operator's experience and skill level, making standardization and quantitative management difficult. Furthermore, it is labor-intensive, inefficient, and fails to meet the growing rehabilitation needs. Mechanically assisted correction alleviates the labor burden to some extent, but still has significant limitations: Firstly, existing correction equipment mostly uses passive traction for forced flexion and extension training, resulting in low patient participation and easily causing pain, fatigue, or even secondary injuries, affecting the patient's motivation and the effectiveness of rehabilitation training. Secondly, existing correction equipment has a simple structural design, cannot be flexibly adjusted according to different body types, has poor adaptability, and most require individual customization, increasing usage costs. Moreover, it is difficult to reuse the equipment after the patient's rehabilitation, resulting in low resource utilization.

[0005] Therefore, we propose a joint rehabilitation orthosis to solve the above-mentioned technical problems. Summary of the Invention

[0006] In order to solve the technical problems existing in the prior art, the present invention proposes a joint rehabilitation orthosis.

[0007] The technical solution adopted in this invention is as follows:

[0008] A joint rehabilitation orthosis includes:

[0009] A walking aid includes a main frame, with a front wheel and a rear wheel at the front and rear ends of the main frame, respectively. The front end of the main frame has an opening and connecting rods that can be raised and lowered vertically on both sides. The front wheel is located at the lower end of the connecting rods, and a handrail is located at the upper end of the connecting rods. The main frame has a support friction rod behind the front wheel, and the main frame has symmetrically arranged upper body connection mechanisms for fixing the patient.

[0010] Two bionic exoskeletons are arranged symmetrically on the left and right sides, including a lower limb support mechanism and a knee joint linkage mechanism. The lower limb support mechanism includes a thigh fixation part and a bionic support leg. The length of the bionic support leg is adjustable. The upper end of the bionic support leg is connected to the thigh fixation part, and the lower end is foot-shaped. The bionic support leg is provided with an elastic band for the lower leg to pass through. The knee joint linkage mechanism includes a thigh binding band and a lower leg binding band. The thigh binding band is axially connected to the lower leg binding band via a pivot.

[0011] In a further technical solution, the bionic support leg includes a thigh plate and a calf plate. The upper end of the thigh plate is connected to the thigh fixing part, the upper end of the calf plate is slidably connected to the thigh plate, and a positioning component is provided to fix the position of the calf plate. The lower end of the calf plate is foot-shaped, and the elastic sleeve is provided on the calf plate.

[0012] In a further technical solution, the positioning components are at least two sets, including positioning posts and fastening knobs. The thigh plate is provided with a sliding groove and multiple adjustment grooves. The adjustment groove is located on one side of the sliding groove and communicates with the sliding groove. The positioning post is located on the calf plate and corresponds to the position of the adjustment groove. The fastening knob is located on the side of the positioning post that extends out of the adjustment groove and is threaded onto the positioning post.

[0013] In a further technical solution, the upper body connecting mechanism includes a first slider, a telescopic adjustment component, and a waist support. The first slider is movably sleeved on the main body bracket and is threaded with a first fastening bolt for fixing the position of the first slider. A height adjustment component is provided on the upper side of the first slider. The telescopic adjustment component is installed on the height adjustment component, and the waist support is installed on the telescopic adjustment component.

[0014] In a further technical solution, the height adjustment component includes a fixed block and a telescopic block slidably disposed inside the fixed block. The fixed block is connected to a first slider. The telescopic block is provided with a plurality of adjustment holes. The fixed block is provided with at least two positioning holes that cooperate with the adjustment holes. Positioning pins are threaded into the positioning holes. The telescopic adjustment component is installed on the telescopic block.

[0015] In a further technical solution, the telescopic adjustment assembly includes a threaded rod and a rotating handle. The threaded rod is threadedly connected to the upper end of the telescopic block, and the waist support and the rotating handle are respectively disposed at both ends of the threaded rod. The waist support and the threaded rod are rotatably connected.

[0016] In a further technical solution, a height adjustment component is also provided on the lower side of the first slider, and a traction rope is provided on the thigh fixing part, the traction rope being connected to the height adjustment component on the lower side.

[0017] In a further technical solution, the lumbar support is provided with a lifting rod, and the lifting rod is provided with a support bracket.

[0018] In a further technical solution, the thigh fixing part, the thigh binding strap and the calf binding strap all include a flexible leg support and a Velcro strap. The front end of the flexible leg support is open, the Velcro strap is located on one side of the flexible leg support, and the other side of the flexible leg support is provided with a snap fastener that cooperates with the Velcro strap.

[0019] In a further technical solution, the main support is provided with a seat plate, and the seat plate is movably sleeved on the main support by a second slider around its perimeter. The second slider is threaded with a second fastening bolt for fixing the position of the second slider.

[0020] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0021] 1. This invention, through a walking aid and two symmetrically arranged bionic exoskeletons, can effectively stabilize the patient's posture and assist the patient in walking. The patient can train independently with minimal assistance, greatly reducing dependence on rehabilitation therapists, reducing human resource costs, and is suitable for one-to-many management, which can meet the growing rehabilitation needs.

[0022] 2. This invention, through active stepping and foot suspension support mechanism, not only improves the patient's sense of active participation and training enthusiasm, but also uses the bionic support leg's lower foot-shaped structure to replace the patient's foot bearing weight, reducing the pressure on the foot, calf and knee joints, reducing the risk of secondary injury after surgery or in the early training stage, and effectively improving rehabilitation results.

[0023] 3. This invention can be personalized according to the patient's height and body shape, improving the comfort and stability of wearing it. It effectively avoids the problems of long cycle, high cost and low resource utilization caused by the need for customized production of traditional orthotics. It improves the applicability of joint rehabilitation orthotics, which is conducive to promotion and reuse, reduces the overall rehabilitation cost for patients, and has good clinical application prospects.

[0024] 4. In the middle and later stages of rehabilitation training, as the patient's knee joint function gradually recovers, the length of the bionic supporting leg can be adjusted according to the actual rehabilitation progress. This allows the patient's foot to gradually contact the foot-shaped structure at the lower end of the bionic supporting leg, transitioning from the original state of the foot being suspended in the air to a state of partial or complete ground contact. This adjustment gradually increases the training intensity, allowing the foot to gradually participate in weight-bearing, thereby helping the patient adapt to the force state during real walking, improving gait coordination and stability, and laying the foundation for complete rehabilitation. Attached Figure Description

[0025] The present invention will be described by way of example and with reference to the accompanying drawings, wherein:

[0026] Figure 1 This is a schematic diagram of the structure of the present invention;

[0027] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle;

[0028] Figure 3 This is a partial structural diagram of the back of the bionic support leg of the present invention;

[0029] Figure 4 for Figure 1 A magnified view of a portion of point B in the middle;

[0030] Figure 5 This is a schematic diagram illustrating the engagement of the height adjustment component of the present invention.

[0031] Reference numerals: 1-Main body support, 2-Front wheel, 3-Rear wheel, 4-Connecting rod, 5-Handrail, 6-Support friction rod, 7-Thigh fixation part, 8-Elastic strap, 9-Thigh binding strap, 10-Lower leg binding strap, 11-Rotating shaft, 12-Thigh plate, 13-Lower leg plate, 14-Positioning post, 15-Fastening knob, 16-Slide groove, 17-Adjusting groove, 18-First slider, 19-Lumbar support, 20-First fastening bolt, 21-Fixing block, 22-Telescopic block, 23-Adjusting hole, 24-Positioning hole, 25-Positioning pin, 26-Threaded rod, 27-Rotating handle, 28-Traction rope, 29-Lifting rod, 30-Support support, 31-Hook and loop strap, 32-Folding buckle, 33-Seat plate, 34-Second slider, 35-Second fastening bolt. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] See Figures 1-5 The present invention provides a joint rehabilitation orthosis, comprising:

[0034] The walking aid includes a main frame 1, with a front wheel 2 and a rear wheel 3 at the front and rear ends of the main frame 1, respectively. The front end of the main frame 1 has an opening, and both sides are movably equipped with connecting rods 4 that can be raised and lowered in the vertical direction. The front wheel 2 is located at the lower end of the connecting rod 4, and the upper end of the connecting rod 4 is equipped with a handrail 5. The main frame 1 has a support friction rod 6 behind the front wheel 2. The main frame 1 is symmetrically equipped with a connecting mechanism for fixing the patient's upper body.

[0035] Two bionic exoskeletons are arranged symmetrically on the left and right sides, including a lower limb support mechanism and a knee joint linkage mechanism. The lower limb support mechanism includes a thigh fixing part 7 and a bionic support leg. The length of the bionic support leg is adjustable. The upper end of the bionic support leg is connected to the thigh fixing part 7, and the lower end is foot-shaped. The bionic support leg is provided with an elastic strap 8 for the lower leg to pass through. The knee joint linkage mechanism includes a thigh binding strap 9 and a lower leg binding strap 10. The thigh binding strap 9 is axially connected to the lower leg binding strap 10 through a pivot 11.

[0036] In this joint rehabilitation orthosis, the walking cart serves as the supporting frame of the entire device, playing a crucial role in stabilizing the patient's posture and assisting walking. Combined with two symmetrically positioned bionic exoskeletons, it enables active flexion and extension training of the knee joint, effectively helping patients gradually regain knee joint function. Its specific usage is as follows:

[0037] First, before rehabilitation training begins, the therapist assists the patient to stand in the walking cart. At this time, the walking cart is in an unused state, with its main support frame 1 tilted forward and the support friction rod 6 in contact with the ground to ensure the walking cart remains stable and stationary, preventing slippage. Then, the therapist assists the patient in putting on the bionic exoskeleton, following these steps:

[0038] 1. Wearing the knee joint linkage mechanism: The thigh binding strap 9 and the calf binding strap 10 are fixed to the patient's thigh and calf respectively. Through the connecting structure of the pivot 11 set between the thigh binding strap 9 and the calf binding strap 10, the pivot 11 can realize the natural rotation between the thigh and calf when the patient performs flexion and extension movements, providing a basis for subsequent gait correction.

[0039] 2. Lower Limb Support Mechanism Wearing: The thigh fixation part 7 is fixed to the patient's thigh, while the patient's lower leg passes through the elastic band 8 on the bionic support leg. The length of the bionic support leg is adjusted according to the patient's leg length, so that the foot-shaped structure at the lower end of the bionic support leg is slightly lower than the patient's foot, allowing the foot to leave the ground and bear weight instead of the patient's foot. The elastic band 8 provides flexible restraint, ensuring that the bionic support leg can move with the lower leg while avoiding load transfer caused by rigid connections, effectively reducing pressure on the lower leg and knee joint, and lowering the risk of secondary injuries after surgery or in the early training phase.

[0040] 3. Upper body connection mechanism fixation: The upper body support mechanism set on the main frame 1 is used to fix the patient's upper body, help the patient maintain body stability, avoid displacement or fall, and provide stable support and protection for the patient.

[0041] After completing the donning and preparation, proceed to the rehabilitation training phase:

[0042] The patient grips the handrail 5 on the connecting rod 4 and applies downward force, causing the front wheel 2 of the walking aid to make stable contact with the ground. Simultaneously, through the connection between the patient's upper body and the upper body linkage mechanism, after the patient stands, the traction main support 1 is lifted, at which point the supporting friction rod 6 is off the ground, allowing the walking aid to glide. Under the guidance of a rehabilitation therapist, the patient walks slowly with a natural gait, gradually performing knee flexion and extension exercises. During training, the lower leg and thigh naturally flex and extend via the pivot 11. When the lower leg flexes and extends, the elastic band 8 drives the movement of the bionic supporting leg, achieving gait and lower leg training. This uses realistic movement to rehabilitate and correct the patient's knee joint. Because the patient's foot remains suspended, the supporting force is borne by the bionic supporting leg, avoiding direct force on the patient's foot, lower leg, and knee joint. This effectively reduces training pain and the risk of secondary injury, improving training safety and comfort, and is particularly suitable for early postoperative rehabilitation or rehabilitation stages with insufficient muscle strength.

[0043] If the patient feels tired during training or when training is completed, the patient can slowly release the downward pressure applied to the handrail 5, causing the main support 1 to tilt forward naturally, and the support friction rod 6 to re-contact the ground, thereby braking the walking aid and ensuring the patient can safely stop training.

[0044] Unlike traditional passive traction rehabilitation methods, this joint rehabilitation orthosis combines a walking cart with a bionic exoskeleton, allowing patients to train independently with minimal assistance. This reduces reliance on therapists' experience and physical strength, lowers human resource costs, and is suitable for one-to-many management, meeting the growing rehabilitation needs. Furthermore, through active stepping and foot suspension support mechanisms, this orthosis enhances patient engagement and motivation. The bionic support leg's foot-shaped structure replaces the patient's foot's weight-bearing, reducing pressure on the foot, calf, and knee joints, lowering the risk of secondary injuries post-surgery or in early training, and effectively improving rehabilitation outcomes. In addition, the bionic support leg is length-adjustable, allowing for individualized adjustments based on the patient's leg length. This avoids the problems of long production cycles, high costs, and low resource utilization associated with custom-made orthosis systems, improving the orthosis's applicability, facilitating promotion and reuse, reducing overall rehabilitation costs for patients, and demonstrating promising clinical application prospects.

[0045] It is worth mentioning that in the middle and later stages of rehabilitation training, as the patient's knee joint function gradually recovers, the length of the bionic supporting leg can be adjusted according to the actual rehabilitation progress. This allows the patient's foot to gradually contact the foot-shaped structure at the lower end of the bionic supporting leg, transitioning from the original state of the foot being suspended in the air to a state of partial or complete ground contact. This adjustment gradually increases the training intensity, allowing the foot to gradually participate in weight-bearing, thereby helping the patient adapt to the force state during real walking, improving gait coordination and stability, and laying the foundation for complete rehabilitation.

[0046] In one specific implementation, see Figure 1 and Figure 2 The bionic support leg includes a thigh plate 12 and a calf plate 13. The upper end of the thigh plate 12 is connected to the thigh fixing part 7. The upper end of the calf plate 13 is slidably connected to the thigh plate 12 and is provided with a positioning component that can fix the position of the calf plate 13. The lower end of the calf plate 13 is foot-shaped, and the elastic sleeve 8 is provided on the calf plate 13.

[0047] The structure adopts a sliding connection between the thigh plate 12 and the calf plate 13, and is equipped with a positioning component to fix the length, so that the length of the bionic support leg can be flexibly adjusted. This not only allows for personalized adaptation according to the leg length of different patients, improving wearing comfort and stability, but also allows for dynamic adjustment of the support length according to the training needs of patients at different rehabilitation stages, thereby better matching the training intensity and improving the overall training effect.

[0048] In one specific implementation, see Figure 2 and Figure 3The positioning components consist of at least two sets, including a positioning post 14 and a fastening knob 15. The thigh plate 12 is provided with a sliding groove 16 and a plurality of adjustment grooves 17. The adjustment grooves 17 are located on one side of the sliding groove 16 and communicate with the sliding groove 16. The positioning post 14 is located on the calf plate 13 and corresponds to the position of the adjustment grooves 17. The fastening knob 15 is located on the side of the positioning post 14 that extends out of the adjustment grooves 17 and is threadedly connected to the positioning post 14.

[0049] Two or more positioning components can effectively lock the positions of the thigh plate 12 and the lower leg plate 13, preventing the lower leg plate 13 from sliding up and down or rotating on the thigh plate 12, thus improving the structural stability and safety of the bionic support leg during use. When adjusting the length of the bionic support leg, simply loosen the fastening knob 15. This allows the positioning post 14 to disengage from the adjustment groove 17 and slide up and down along the slide groove 16. After adjusting to the target position, slide the positioning post 14 into the new adjustment groove 17 and tighten the fastening knob 15 again to complete the length fixation. Furthermore, when designing the adjustment groove 17, it can be extended downwards. This allows the positioning post 14 to engage with the adjustment groove 17 after sliding in, reducing the risk of the positioning post 14 accidentally sliding out due to vibration or shaking during use.

[0050] In one specific implementation, see Figure 1 , Figure 4 and Figure 5 The upper body connection mechanism includes a first slider 18, a telescopic adjustment component and a waist support 19. The first slider 18 is movably sleeved on the main body bracket 1 and is threaded with a first fastening bolt 20 for fixing the position of the first slider 18. A height adjustment component is provided on the upper side of the first slider 18. The telescopic adjustment component is installed on the height adjustment component and the waist support 19 is installed on the telescopic adjustment component.

[0051] The upper body connection mechanism is slidably mounted on the main support 1 via a first slider 18. The position of the first slider 18 is locked using a first fastening bolt 20, making the upper body connection mechanism adjustable in the front-to-back direction. Furthermore, the combination of a height adjustment component and a telescopic adjustment component allows the lumbar support 19 to be adjusted in both vertical and horizontal directions, enabling rapid matching for patients of different heights and body types. This further improves the fit and stability of the support, effectively enhancing the safety and comfort of patients during training.

[0052] In one specific implementation, see Figure 4 and Figure 5The height adjustment component includes a fixed block 21 and a telescopic block 22 slidably disposed inside the fixed block 21. The fixed block 21 is connected to the first slider 18. The telescopic block 22 is provided with a plurality of adjustment holes 23. The fixed block 21 is provided with at least two positioning holes 24 that cooperate with the adjustment holes 23. The positioning holes 24 are internally threaded with positioning pins 25. The telescopic adjustment component is installed on the telescopic block 22.

[0053] When in use, the height adjustment component slides on the fixed block 21 via the telescopic block 22. By aligning the positioning hole 24 and different adjustment holes 23, and through the insertion locking engagement of the positioning pin 25, the height adjustment and fixation of the telescopic adjustment component and the lumbar support 19 are effectively realized, thereby effectively matching the patient's height.

[0054] In one specific implementation, see Figure 1 and Figure 4 The telescopic adjustment assembly includes a threaded rod 26 and a rotating handle 27. The threaded rod 26 is threadedly connected to the upper end of the telescopic block 22. The waist support 19 and the rotating handle 27 are respectively disposed at both ends of the threaded rod 26. The waist support 19 and the threaded rod 26 are rotatably connected.

[0055] When in use, the telescopic adjustment component rotates the handle 27 to drive the threaded rod 26 to rotate, thereby achieving the axial telescopic movement of the threaded rod 26, which can accurately adjust the position of the lumbar support 19 and effectively match the patient's body shape.

[0056] In one specific implementation, see Figure 2 The lower side of the first slider 18 is also provided with a height adjustment component, and the thigh fixing part 7 is provided with a traction rope 28, which is connected to the lower height adjustment component.

[0057] By setting a height adjustment component on the lower side of the first slider 18 and connecting the thigh fixation part 7 to the height adjustment component via the traction rope 28, a certain traction force can be provided to the thigh fixation part 7, which can share the weight load of the patient's thigh, reduce fatigue, and promote the continuous progress and improvement of rehabilitation training.

[0058] In one specific implementation, see Figure 1 and Figure 4 The waist support 19 is provided with a lifting rod 29, and the lifting rod 29 is provided with a support 30.

[0059] The lumbar support 19, through the support bracket 30 on the support bar 29, can extend to the patient's armpit area to effectively lift and support the patient's upper body, reduce the burden on the patient's waist during training, enhance the overall support effect of the body, help maintain the patient's correct posture, and improve the safety and effectiveness of rehabilitation training.

[0060] In one specific implementation, see Figure 2 The thigh fixing part 7, thigh binding strap 9 and calf binding strap 10 all include a flexible leg support and a Velcro strap 31. The front end of the flexible leg support is open, the Velcro strap 31 is located on one side of the flexible leg support, and the other side of the flexible leg support is provided with a snap fastener 32 that cooperates with the Velcro strap 31.

[0061] The thigh fixation part 7, thigh binding strap 9, and calf binding strap 10 all adopt a flexible leg support combined with Velcro strap 31. The structure is simple and practical. The Velcro strap 31 and the snap fastener 32 work together to ensure that it is easy to wear and adjust. The flexible leg support has moderate elasticity and is equipped with a soft padding layer inside, which can effectively fit the patient's lower limbs, ensuring the stability of the fixation while avoiding local pressure and discomfort, improving the patient's wearing experience, and helping the patient to better cooperate with rehabilitation training.

[0062] In one specific implementation, see Figure 1 The main support 1 is provided with a seat plate 33. The seat plate 33 is movably sleeved on the main support 1 around its perimeter by a second slider 34. The second slider 34 is threaded with a second fastening bolt 35 for fixing the position of the second slider 34.

[0063] The seat board 33 design allows patients to easily sit down and rest during training breaks, effectively reducing body load, relieving muscle fatigue, and improving the tolerance and sustainability of rehabilitation training. At the same time, the flexible adjustment of the seat board 33 ensures a comfortable resting experience for patients of different body types, thus improving the equipment's versatility.

[0064] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A joint rehabilitation orthotic device, characterized in that, include: The walking aid includes a main frame (1), with a front wheel (2) and a rear wheel (3) at the front and rear ends of the main frame (1), respectively. The front end of the main frame (1) has an opening, and both sides are equipped with connecting rods (4) that can be raised and lowered in the vertical direction. The front wheel (2) is located at the lower end of the connecting rod (4), and the upper end of the connecting rod (4) is equipped with a handrail (5). The main frame (1) has a supporting friction rod (6) behind the front wheel (2), and the main frame (1) is symmetrically equipped with a connecting mechanism for fixing the patient's upper body. Two bionic exoskeletons are symmetrically arranged on the left and right, including a lower limb support mechanism and a knee joint linkage mechanism. The lower limb support mechanism includes a thigh fixing part (7) and a bionic support leg. The length of the bionic support leg is adjustable. The upper end of the bionic support leg is connected to the thigh fixing part (7), and the lower end is foot-shaped. The bionic support leg is provided with an elastic band (8) for the lower leg to pass through. The knee joint linkage mechanism includes a thigh binding band (9) and a lower leg binding band (10). The thigh binding band (9) is axially connected to the lower leg binding band (10) through a pivot (11). The upper body connecting mechanism includes a first slider (18), a telescopic adjustment component and a waist support (19). The first slider (18) is movably sleeved on the main body bracket (1) and is threaded with a first fastening bolt (20) for fixing the position of the first slider (18). A height adjustment component is provided on the upper side of the first slider (18). The telescopic adjustment component is installed on the height adjustment component, and the waist support (19) is installed on the telescopic adjustment component. The height adjustment assembly includes a fixed block (21) and a telescopic block (22) slidably disposed inside the fixed block (21). The fixed block (21) is connected to the first slider (18). The telescopic block (22) is provided with a plurality of adjustment holes (23). The fixed block (21) is provided with at least two positioning holes (24) that cooperate with the adjustment holes (23). The positioning holes (24) are internally threaded with positioning pins (25). The telescopic adjustment assembly is installed on the telescopic block (22). The first slider (18) is also provided with a height adjustment component on its lower side, and the thigh fixing part (7) is provided with a traction rope (28), which is connected to the height adjustment component on the lower side.

2. The joint rehabilitation orthosis according to claim 1, characterized in that, The bionic support leg includes a thigh plate (12) and a calf plate (13). The upper end of the thigh plate (12) is connected to the thigh fixing part (7). The upper end of the calf plate (13) is slidably connected to the thigh plate (12) and is provided with a positioning component that can fix the position of the calf plate (13). The lower end of the calf plate (13) is foot-shaped, and the elastic sleeve (8) is provided on the calf plate (13).

3. A joint rehabilitation orthosis according to claim 2, characterized in that, The positioning components are at least two sets, including a positioning post (14) and a fastening knob (15). The thigh plate (12) is provided with a sliding groove (16) and a plurality of adjustment grooves (17). The adjustment groove (17) is located on one side of the sliding groove (16) and communicates with the sliding groove (16). The positioning post (14) is located on the calf plate (13) and corresponds to the position of the adjustment groove (17). The fastening knob (15) is located on the side of the positioning post (14) that extends out of the adjustment groove (17) and is threadedly connected to the positioning post (14).

4. A joint rehabilitation orthosis according to claim 1, characterized in that, The telescopic adjustment assembly includes a threaded rod (26) and a rotating handle (27). The threaded rod (26) is threadedly connected to the upper end of the telescopic block (22). The waist support (19) and the rotating handle (27) are respectively located at both ends of the threaded rod (26). The waist support (19) and the threaded rod (26) are rotatably connected.

5. A joint rehabilitation orthosis according to any one of claims 1-4, characterized in that, The lumbar support (19) is provided with a lifting rod (29), and the lifting rod (29) is provided with a support bracket (30).

6. A joint rehabilitation orthosis according to claim 1, characterized in that, The thigh fixing part (7), thigh binding strap (9) and calf binding strap (10) all include a flexible leg support and a Velcro strap (31). The front end of the flexible leg support is open, the Velcro strap (31) is located on one side of the flexible leg support, and the other side of the flexible leg support is provided with a snap fastener (32) that cooperates with the Velcro strap (31).

7. A joint rehabilitation orthosis according to claim 1, characterized in that, The main support (1) is provided with a seat plate (33). The seat plate (33) is movably sleeved on the main support (1) by a second slider (34). The second slider (34) is threaded with a second fastening bolt (35) for fixing the position of the second slider (34).

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