Trajectory design method and treatment operation method for hand joint treatment after surgical hand operation

Abstract

The invention relates to a surgical hand postoperative hand joint treatment trajectory design method and treatment method, and the method comprises the steps: recording a trajectory formed by natural actions of a hand joint part, and enveloping trajectories formed by various different natural actions of a target hand joint part to form a trajectory region; in the first stage, a sliding adjusting part of the driving action mechanism rotates to a preset first stage angle alpha in the space, an arc track is generated, and the arc track reaches the position A; then, at the second stage when the rotation angle exceeds the first stage angle alpha, the sliding adjusting component is driven to move in the direction close to the rotating shaft, the sliding adjusting component achieves displacement in the radial direction of the rotating shaft and gradually close to the rotating shaft, and the displacement track shrinks along the tangent line of the base circle to form an involute and reaches the position B.

Description

Technical Field

[0001] The present application relates to the technical field of surgical medical instruments, and in particular to a trajectory design method and a treatment method for postoperative hand joint treatment. Background Art

[0002] After joint surgery, if the human hand is continuously immobilized or rested, a series of pathological changes will occur in the joints and surrounding tissues, causing thickening and contracture of the ligaments and joint capsule fibers, joint degeneration, and stiffness and limited movement of the hand and wrist joints. Especially after stroke or hemiplegia, due to damage to the brain nerves, more than 80% of people will experience limb hemiplegia accompanied by spasms, hypertonia and other sequelae. Long-term immobilization without continuous active treatment can lead to permanent high muscle tension in the fingers and wrist joints, joint contractures and abnormal movement patterns.

[0003] Currently, the main methods used to reduce post-operative hand joint stiffness, hypertonia, and flexion contractures are continuous passive therapeutic training (CPM) and intelligent robotic systems, but these methods have significant drawbacks. CPM is primarily used in orthopedics to maintain joint mobility and prevent joint stiffness caused by trauma or post-operative swelling and hematoma. To ensure safety, CPM uses a force-returning operation mode. However, due to factors such as trauma or post-operative joint swelling and hematoma, CPM often encounters varying degrees of resistance during operation, resulting in a relatively small range of passive operation and generally preventing the limb from fully moving. Intelligent robotic treatment systems typically use active force, with device-assisted movement in a dominant / passive motion mode, generating repetitive joint limb movements and failing to provide effective, targeted passive stretching therapy for joints with hypertonia or contractures.

[0004] The hand is the part of the human body with the most and most concentrated degrees of freedom of joints and the most complex physiological structure. Its functions are delicate, sensitive and complex, which makes the development of hand functional therapy robots relatively complicated. How to ensure the safety and effectiveness of hand therapy is an urgent problem to be solved. Summary of the Invention

[0005] Based on this, it is necessary to provide a trajectory design method and treatment operation method for postoperative hand joint treatment in response to the above technical problems.

[0006] The present application provides a trajectory design method for postoperative hand joint treatment, comprising:

[0007] The trajectory formed by the natural movements of the hand joints is recorded, and the trajectory envelope formed by various natural movements of the target hand joints forms a trajectory area;

[0008] In the first stage, the sliding adjustment component of the driving mechanism is rotated in space to a preset first-stage angle α, generating an arc trajectory and reaching position A; then, when in the second stage when the rotation angle exceeds the first-stage angle α, the sliding adjustment component is driven to move toward the direction close to the rotation axis, and the sliding adjustment component realizes displacement along the radial direction of the rotation axis and gradually approaches the rotation axis. The displacement trajectory shrinks along the tangent of the base circle to form an involute and reaches position B.

[0009] In some embodiments, the trajectory design method for surgical hand postoperative hand joint treatment is applicable to the postoperative hand joint treatment system of the present application.

[0010] The present application also provides a method for treating a hand joint after surgical operation, comprising:

[0011] The forearm is placed on the bracket, and the target hand joint part to be treated is placed on the positioning treatment component, which is connected to the sliding adjustment component on the rotation and translation mechanism;

[0012] During forward motion treatment, the rotary drive mechanism provides a rotary drive force, driving the rotary translation mechanism and the sliding adjustment component to rotate along an arc trajectory to the preset first-stage angle α and reach position A;

[0013] When the rotation exceeds the preset first-stage angle α, the sliding adjustment component is driven to rotate and simultaneously driven to translate in a direction close to the rotation axis to reach the second-stage position B;

[0014] Since the positioning treatment component is mounted on the sliding adjustment component, when the positioning treatment component moves along with the sliding adjustment component, it will drive the target hand joint to move, and the motion trajectory includes a circular arc trajectory in the first stage and an involute trajectory in the second stage;

[0015] The trajectory envelopes formed by various natural movements of the target hand joint respectively form a trajectory area, and the trajectories of the first stage and the trajectories of the second stage cover the trajectory area;

[0016] Reverse motion therapy is in the opposite direction of forward motion therapy.

[0017] In some embodiments, the method for treating hand joints after surgical operation is applicable to the postoperative hand joint treatment system of the present application.

[0018] The present application also provides an automatic control method for post-operative hand joint treatment, comprising:

[0019] Obtain information about the target hand joint that needs treatment;

[0020] Switching the target motion mode based on the joint position information;

[0021] Based on the target motion mode, the rotary drive mechanism is controlled to start and provide a rotary drive force, and the sliding adjustment component is driven to rotate a preset first-stage angle α to form an arc trajectory;

[0022] And, after being driven to reach a preset first-stage angle α, the sliding adjustment component is controlled to rotate while translating in a direction close to the rotation axis to reach a second-stage position B to form an involute trajectory;

[0023] The positioning treatment component moves along with the sliding adjustment component, driving the target hand joint part that needs to be treated to move, and the movement trajectory includes an arc in the first stage and an involute in the second stage.

[0024] In some embodiments, the automatic control method for postoperative hand joint treatment is applicable to the postoperative hand joint treatment system of the present application.

[0025] In this hand joint treatment, strict control is applied to limb fixation, force application points, and motion trajectory to ensure that the passive joint motion curve conforms to the natural motion trajectory of the hand joint. To address complex joint movements, an innovative two-stage design concept, encompassing force direction and motion trajectory, is employed. This allows the hand joint to bend to a normal angle, while maintaining comfort and painlessness for the patient throughout the entire process.

[0026] Early postoperative treatment with exercise that conforms to the physiological curve can enable patients to perform joint movements within a painless range early on, speeding up the treatment process and thus avoiding unnecessary medical accidents such as significant postoperative joint swelling and increased drainage volume caused by exercise treatment that does not conform to the physiological curve, and even loosening of implanted prostheses, wound dehiscence, and other unnecessary medical accidents in severe cases.

[0027] The present invention can be used for a variety of treatments, such as interphalangeal joint treatment, thumb joint treatment, metacarpophalangeal joint treatment, wrist joint treatment, combined fisting treatment, radioulnar deviation treatment, forearm treatment, and wrist-palm combined treatment, by combining a rotational translation mechanism, positioning treatment components for treating different joint positions, changing the installation position of the bracket, and selecting different preset first-stage angles α according to different target hand joint positions. It has flexible usage and strong functionality. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a partial structural diagram of a postoperative hand joint treatment system provided in one embodiment of the present application;

[0029] Figure 2 A stereoscopic view of a postoperative hand joint treatment system provided in one embodiment of the present application for interphalangeal joint treatment;

[0030] Figure 3 is a schematic diagram of the natural motion trajectory of finger joint flexion and extension; Figure 3The consecutive diagrams of a, 3b, and 3c show the trajectory of the joint movements from the distal interphalangeal joint, the proximal interphalangeal joint to the metacarpophalangeal joint. Figure 3 The consecutive schematic diagrams d, 3e, and 3f show the trajectory of the joint movements from the metacarpophalangeal joint, the proximal interphalangeal joint to the distal interphalangeal joint;

[0031] Figure 4 A schematic diagram of the motion trajectory of the sliding adjustment component driven by the rotary drive mechanism when used for interphalangeal joint treatment;

[0032] Figure 5 A schematic diagram of an interphalangeal joint treatment glove;

[0033] Figure 6 A schematic diagram of the positioning treatment components for flexion and extension treatment exercises for the palm joint and wrist joint;

[0034] Figure 7 A schematic diagram of a portion of the structure of a positioning treatment component suitable for wrist-palm combined therapeutic exercise or combined fisting therapy;

[0035] Figure 8 This is a main structural diagram of a postoperative hand joint treatment system provided in one embodiment of the present application for wrist-palm combined therapeutic exercise or combined fisting therapy;

[0036] Figure 9 For Figure 7 A schematic structural diagram of a part of the positioning treatment component used in conjunction with another part of the positioning treatment component;

[0037] Figure 10 This is a schematic diagram of the lower support shaft rotating from below to squeeze and massage the fingers, and pushing the palm upward to perform a back extension exercise;

[0038] Figure 11 This is a schematic diagram of the upper strap pulling downward from above and applying pressure to the back of the hand through the elastic fabric bound to the back of the hand to cause the back of the hand to flex forward;

[0039] Figure 12 A line diagram of the trajectory of wrist-palm compound flexion and extension therapeutic exercises for the palm;

[0040] Figure 13 A line diagram of the trajectory of compound fisting therapeutic exercises for the palm of the hand;

[0041] Figure 14 Schematic diagram of the structure of a positioning treatment component suitable for radioulnar deviation movement;

[0042] Figure 15 A side view of a postoperative hand joint treatment system provided in one embodiment of the present application for treating radioulnar deviation;

[0043] Figure 16This is a trajectory diagram for the treatment of radioulnar deviation;

[0044] Figure 17 A side view of a postoperative hand joint treatment system provided in one embodiment of the present application for forearm therapeutic exercise;

[0045] Figure 18 Schematic diagram of internal and external rotation during forearm therapeutic exercises;

[0046] Figure 19 This is a comparison diagram of the forearm treatment handle of the present application and the treatment handle of the prior art in use;

[0047] Figure 20 A schematic diagram of a rotation and translation mechanism provided in one embodiment of the present application;

[0048] Figure 21 This is a schematic diagram of a rotary drive mechanism provided in one embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0050] To facilitate understanding of the present invention, preferred embodiments of the present invention are shown in the accompanying drawings, which include various specific details to assist in such understanding, but these details should be considered as exemplary only. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Accordingly, those skilled in the art will recognize that changes and modifications may be made to the various embodiments described herein without departing from the scope of the present invention as defined by the appended claims. In addition, descriptions of well-known functions and structures may be omitted for clarity and brevity.

[0051] It will be apparent to those skilled in the art that the following description of various embodiments of the present invention is provided for the purpose of illustration only and not for the purpose of limiting the invention as defined by the appended claims.

[0052] Hand flexion and extension include continuous movement of the metacarpophalangeal and interphalangeal joints, as well as thumb joint movement, forearm internal and external rotation, and palmar radioulnar deviation. The inventors discovered that only a portion of hand joint movement typically follows a standard circular trajectory. For different hand joints, the trajectory becomes non-standard when the joints move to a certain angle. Adapting to the free movement trajectories of different joints poses a significant challenge to hand motion control.

[0053] To solve the above problems, refer to Figures 1-4 , the present application provides a postoperative hand joint treatment system, comprising:

[0054] Chassis 2;

[0055] Bracket 1, used to support the forearm;

[0056] A rotary drive mechanism, provided in the chassis, for providing a rotary drive force;

[0057] The rotating translation mechanism 6a is spaced apart from the bracket 1 and connected to the rotary transmission mechanism, so as to rotate by a preset first-stage angle α and reach position A under the driving action of the rotary transmission mechanism, thereby forming a first-stage circular arc trajectory;

[0058] The rotation-translation mechanism 6a has a sliding adjustment component 6a-1 on a side away from the bracket 1. When the rotation-translation mechanism 6a rotates beyond a preset first-stage angle α and is in the second stage, the sliding adjustment component 6a-1 is configured to be driven to translate in a direction close to the rotation axis 6a-2 of the rotation-translation mechanism 6a to form an involute trajectory and reach the position B of the second stage.

[0059] The trajectories of the first stage and the second stage cover the trajectory envelope of the natural movement of the target hand joint;

[0060] The positioning treatment component 6b is connected to the sliding adjustment component 6a-1 and is used to position and treat the target hand joint part that needs to be treated.

[0061] Specifically, the target hand joint parts, such as finger joints, will form different natural motion trajectories when performing different movements, and these different natural motion trajectories will envelop a trajectory area. In order to cover the above-mentioned trajectory area, the present application designs a motion trajectory of the system, that is, the motion trajectory of the positioning treatment component 6b is composed of two parts: a circular arc trajectory and an involute trajectory: in the first stage with a preset first-stage angle α, circular arc motion is implemented by rotation; in the second stage, the motion trajectory is similar to an involute. The present application includes two motion trajectories, the first stage and the second stage, which have been verified to be able to approach the natural trajectory of the joints in theory. The designed motion trajectory can cover the trajectory area enveloping all natural motion trajectories formed by the target hand joint parts, such as finger joints, when performing different movements, that is, no matter how the patient's hand joints move, the trajectory of the device of this embodiment can be covered, and the safety of the connection between the device and the patient can also be guaranteed.

[0062] During operation, the forearm is placed on the bracket 1, and the joint part to be treated is placed on the positioning treatment component 6b; during forward motion treatment, the rotary drive mechanism is started to provide a rotary drive force, driving the rotation and translation mechanism 6a to rotate along an arc trajectory to the preset first stage angle α (for example, 80°) and reach position A; when the rotation exceeds the preset first stage angle, it enters the second stage, driving the sliding adjustment component 6a-1 on the rotation and translation mechanism 6a to translate in the direction close to the rotation axis 6a-2 while rotating, and reach position B.

[0063] The rotation and translation mechanism 6a is a mechanism in the treatment component. The rotation and translation mechanism 6a itself can rotate around the rotation axis 6a-2 at a first-stage angle α (for example, 80°) to reach position A; when the rotation exceeds the preset first-stage angle, the sliding adjustment component 6a-1 of the rotation and translation mechanism 6a is actively driven to rotate while sliding along the radial direction of the rotation axis 6a-2 toward the direction close to the rotation axis 6a-2. The motion trajectory containing a total of two stages is conducive to matching the motion trajectory of the natural flexion and extension of the human hand joint.

[0064] One end of the positioning treatment component 6b is installed on the sliding adjustment component 6a-1 of the rotation and translation mechanism 6a, and the other end is connected to different joints of the patient, driving the patient's hand joints and wrist joints to perform continuous flexion and extension movements. The motion trajectory of the connected sliding adjustment component 6a-1 and the positioning treatment component 6b consists of two sections: the circular arc trajectory of the first stage and the composite movement trajectory of the second stage (the composite movement trajectory of the second stage runs according to the trajectory of Archimedean involute contraction), which is conducive to matching the natural movement trajectory of the joint close to the theoretical one.

[0065] During use, the hand joint therapy robot strictly controls limb fixation, force application points, and motion trajectory, ensuring that the passive joint motion curve conforms to the natural motion trajectory of the hand joint. To address complex joint movements, the robot innovatively adopts a two-stage design concept, combining force application direction and motion trajectory, enabling the hand to bend to a normal angle while maintaining comfort and painlessness for the patient.

[0066] Early postoperative treatment in a manner that conforms to the physiological curve can enable patients to perform joint movements within the early painless range and accelerate the treatment process, thereby avoiding unnecessary medical accidents such as obvious joint swelling and increased drainage volume caused by exercise therapy that does not conform to the physiological curve, and in severe cases even loosening of the implanted prosthesis, wound dehiscence, etc.

[0067] The present invention can be used for a variety of treatments such as interphalangeal joint treatment, thumb joint treatment, metacarpophalangeal joint treatment, wrist joint treatment, combined fisting treatment, radioulnar deviation treatment, forearm treatment and wrist-palm combined treatment through the combination of a rotational translation mechanism 6a, a positioning treatment component 6b for treating different joint parts, a variable installation position of the bracket 1, and selection of different preset first-stage angles α according to different target hand joint parts. It has flexible usage and strong functionality.

[0068] Please see below for detailed treatment methods for different parts of the body.

[0069] Next, the application is described in detail by taking the target hand joints as finger joints as an example: the applicant has conducted a tracking study on the natural motion trajectory of the finger joints flexion-extension, see Figure 3 , the motion trajectory of the treatment component needs to cover Figure 3 The area shown in the figure is securely connected to the patient. Taking a finger joint as an example, the flexion-extension movement of each hand joint consists of three complex joint movements: the distal interphalangeal joint A, the proximal interphalangeal joint B, and the metacarpophalangeal joint C. Due to differences in the patient's injury location and degree of stiffness, the order of rotation of the three joints varies, and the fingertip movement trajectory also varies. Figure 3 The consecutive schematic diagrams of a, 3b, and 3c show the trajectory of the joint movements starting from the horizontal 0°, from the distal interphalangeal joint, the proximal interphalangeal joint to the metacarpophalangeal joint, and the records form the trajectory line H, which is composed of three arcs, that is, each of the segments is an arc; Figure 3 The successive diagrams d, 3e, and 3f illustrate the trajectory of the joint, starting from a horizontal angle of 0° and moving sequentially from the metacarpophalangeal joint, to the proximal interphalangeal joint, and finally to the distal interphalangeal joint. This trajectory forms a line K, which is composed of a circular arc and an involute. Besides the two aforementioned motion forms, the trajectories of all other joint motions are enclosed within the region enclosed by lines H and K.

[0070] Therefore, it is necessary to design a motion trajectory that can cover the trajectory line H, the trajectory line K, and all other trajectory forms enclosed by H and K. Specifically, the motion trajectory of the positioning treatment component 6b is designed as follows: First, the applicant has found through research that when used for thumb or interphalangeal joint treatment, the thumb or interphalangeal joint can be rotated from a horizontal state downward along a circular trajectory to a maximum angle a1 (about 80°, 78°-82°). Therefore, in the first stage, the sliding adjustment component 6a-1 of the driving action mechanism 6a can be used to drive the transmission rod 17 to rotate from the horizontal 0° to a1, for example, 80° in space, to generate a circular arc trajectory with a fixed radius ( Figure 4a) and reaches position A; then, in the second stage when the rotation angle exceeds 80°, the sliding adjustment component 6a-1 is driven to move toward the direction close to the rotation axis 6a-2. Based on the Archimedean involute principle, the sliding adjustment component 6a-1 is displaced along the radial direction of the rotation axis 6a-2 and gradually approaches the rotation axis 6a-2 ( Figure 4 b) The displacement trajectory shrinks along the base circle tangent line within an angle range b1 (98°-102°), for example, after shrinking 100°, it reaches position B at 180°. The expansion and contraction of the involute trajectory can be achieved by resetting the elastic member. Figure 4 c shows the entire motion trajectory of the sliding adjustment component 6a-1 when the rotary drive mechanism drives it to rotate 180°.

[0071] Compared with the prior art, this embodiment has the following advantages:

[0072] (1) The motion trajectory of the positioning treatment component 6b consists of two parts: a circular arc trajectory and an involute trajectory. In the first stage within the rotation angle a1, circular arc motion is implemented by rotation; when the rotation angle is greater than a1, the motion trajectory is similar to an involute. The present application includes two motion trajectories in the first stage and the second stage, which are theoretically close to the natural trajectory of the joint. The designed motion trajectory can cover the range enclosed by the natural motion trajectory lines H and K in the above two extreme cases, that is, no matter how the patient's hand joint moves, the device trajectory of this embodiment can be covered, and the safety of the connection between the device and the patient can also be guaranteed. It is worth noting that the above content of tracking and recording the natural motion trajectory and the design trajectory of the treatment system is explained using the finger joints as an example. When other joint parts are selected as the target hand joint parts, the above concept is also applicable.

[0073] When used for the treatment of the thumb or interphalangeal joint, the thumb or interphalangeal joint starts from a horizontal state and moves downward. The applicant believes that the motion trajectory designed in this application is composed of two trajectory lines: a circular arc trajectory and an involute trajectory. Running according to this trajectory is theoretically beneficial to approaching the natural motion trajectory and the physiological curve. In the prior art, passive movements that do not conform to the physiological curve and the wrong direction of force will interfere with the rolling-sliding of the joint, causing excessive load on the contact joint surface, squeezing the joint cartilage, and even leading to postoperative joint swelling and increased drainage; if this continues for a long time, it will also cause damage to the joint surface. For joints with a high degree of joint surface fit, it may also cause symptoms such as joint swelling, ossification, and arthritis. This embodiment overcomes the above problems, is beneficial to making the movement of the finger joints close to the natural motion trajectory, and reduces damage to the finger joints during treatment.

[0074] The external force of the device of the present application can effectively act on the stiff finger joints, can simultaneously maintain the flexion position of the proximal and distal interphalangeal joints, and can gently stretch the metacarpophalangeal joints to extension, with significant therapeutic effects.

[0075] On the basis of the above embodiments, the applicant has further found that the natural physiological motion trajectory of actual hand joints is diverse, and although it is close to the standard motion trajectory of the sliding adjustment component 6a-1 as a whole, it is not synchronized. Therefore, in order to avoid the device restricting the joint movement during the operation of the system, or even directly applying a strong impact force to the joint, to improve the effectiveness and safety of the treatment action, so that the finger joints can always move in the natural physiological motion trajectory while bearing the driving force, reference is made to the following method: Figure 2 and Figure 5 In some embodiments, a positioning treatment component 6b is provided that better matches the natural motion trajectory of the finger joint, specifically including:

[0076] An adjustment belt 72, wherein the adjustment belt 72 is provided with a plurality of connection points 72a distributed along the length direction;

[0077] A finger sleeve 71 is selectively connected to any connection point 72a on the adjustment belt 72, and the finger sleeve 71 is slidably sleeved on the rotational position compensation driving rod 18;

[0078] A fixing belt 76, used to fix the finger sleeve 71 to the connection point 72a;

[0079] a transmission rod 17, fixedly connected to the side of the sliding adjustment component 6a-1, for transmitting the rotational circular motion;

[0080] The rotary position compensation driving rod 18 is rotationally connected to the transmission rod 17 and is perpendicular to the axial direction of the rotating shaft 6a - 2 of the rotating support plate 37 .

[0081] In this embodiment, the transfer rod 17 is a connecting member between the sliding adjustment component 6a-1 and the rotary position compensation drive rod 18, which is used to transfer the movement of the sliding adjustment component 6a-1 to the rotary position compensation drive rod 18, and then to the finger connected to the rotary position compensation drive rod 18.

[0082] In this embodiment, the rotary position-compensating drive rod 18 is capable of 360° rotation relative to the transmission rod 17. The finger cuff 71, which connects to the patient's finger, slides freely along the rotary position-compensating drive rod 18 to accommodate the continuous change in distance between the cuff 71 and the transmission rod 17 during movement. This structural coordination accommodates changes in the cuff's spatial orientation and the distance between the cuff and the palm, further accommodating the continuous change in the distance and orientation from the fingertip to the palm during flexion and extension of the hand joint, ensuring a secure connection between the treatment component and the patient.

[0083] Specifically, such as Figure 4 d and Figure 2 、 Figure 5When used for treating the thumb or interphalangeal joint, the finger cuff 71 is adjusted to the connection point 72a on the adjustment belt 72, and the connection point 72a corresponds to the part of the finger to be treated; the finger cuff 71 is fixed to the connection point using the fixing belt 76; the rotary position compensation driving rod 18 is passed through the finger cuff 71 (the finger cuff can slide along the rotary position compensation driving rod 18, and the rotary position compensation driving rod 18 provides support and guidance for the sliding of the finger cuff).

[0084] During treatment, taking a1 as an example, when 80° is selected, the palm joint is placed on the hand support rod 16, the fingers are inserted into the finger sleeve 71, and the rotary drive mechanism provides a rotary drive force to drive the rotation and translation mechanism 6a to rotate 80° as a whole; when it exceeds 80°, the sliding adjustment component 6a-1 of the rotation and translation mechanism 6a is driven to drive the transmission rod 17 to rotate in space and translate at a preset speed, and at the same time, the finger joint movement is promoted through the rotary position compensation drive rod 18 and the finger sleeve 71.

[0085] As mentioned above, the natural physiological motion trajectory of the hand joint is not synchronized with the standard motion trajectory of the sliding adjustment component 6a-1 as a whole. In order to avoid the device restricting the joint movement during the operation of the system or even directly applying a strong impact force to the joint, the effectiveness and safety of the treatment action are guaranteed. Figure 4 e is a schematic diagram of the initial state of the finger joint being driven by the sliding adjustment component 6a-1 to perform flexion and extension treatment movement. Since the finger sleeve 71 can slide freely along the rotating position compensation drive rod 18, and the rotating position compensation drive rod 18 can rotate flexibly relative to the transmission rod 17, when the finger joint is pushed by the sliding adjustment component 6a-1 to perform movement, the rotation of the rotating position compensation drive rod 18 and the sliding of the finger sleeve 71 form a buffer mechanism, which can perform compensation adjustment when the natural movement trajectory of the hand joint is not completely synchronized with the overall standard movement trajectory of the sliding adjustment component 6a-1 (the standard movement trajectory is unchanged), ensuring that the joint can still move according to its own physiological trajectory when being driven, and can avoid the direct impact of the device when the joint moves, thereby ensuring the safety of the connection between the patient's body and the positioning treatment component 6b.

[0086] like Figure 4f is a schematic diagram of the state change of the interphalangeal joint being driven by the sliding adjustment component 6a-1 to perform flexion and extension treatment movement. During the finger flexion and extension treatment, the spatial angle direction of the fingertip (finger sleeve 71) will rotate and change. At this time, the free and flexible rotation of the rotary position compensation driving rod 18 relative to the transmission rod 17 can be used as a buffer for direction adjustment, which is used to provide adaptive buffer compensation for the adjustment of the direction of the fingertip (finger sleeve 71); and during the finger flexion and extension treatment, the distance from the fingertip to the palm will also change uncertainly. At this time, the free sliding of the finger sleeve 71 along the rotary position compensation driving rod 18 can be used as a buffer for the distance adjustment, which is used to provide adaptive buffer compensation for the real-time change of the distance from the fingertip to the palm, and then adjust the compensation to adapt to the actual physiological motion trajectory, realize direction and distance compensation, and make the designed motion trajectory of the positioning treatment component 6b able to adapt to the theoretical natural motion trajectory of all hand joints within the envelope range between H and K.

[0087] Compared with the prior art, this embodiment has the following advantages:

[0088] A mechanical linkage mechanism including a finger sleeve 71, an adjustment belt 72, a fixing belt 76, a rotational position compensation driving rod 18, and a transmission rod 17 is designed. Since the finger sleeve 71 can slide freely along the rotational position compensation driving rod 18, and the rotational position compensation driving rod 18 can rotate flexibly relative to the transmission rod 17, when the finger joint is pushed by the sliding adjustment component 6a-1 to move, the rotation of the rotational position compensation driving rod 18 and the sliding of the finger sleeve 71 along the length direction of the rotational position compensation driving rod 18 constitute a buffering adaptation mechanism, which can compensate and adjust when the natural movement trajectory of the hand joint is not completely synchronized with the overall standard movement trajectory of the sliding adjustment component 6a-1 (the standard movement trajectory is always unchanged), ensuring that the joint can still move freely according to its own physiological trajectory when driven to flex and extend, thereby avoiding the direct impact of the device when the joint moves, ensuring the comfort of treatment and the safety of the connection between the patient's body and the positioning treatment component 6b.

[0089] During therapeutic movement, the spatial angle of the fingertip and the distance from the fingertip to the palm will undergo continuous and uncertain changes. At this time, the free sliding of the fingertip 71 along the rotating position compensation drive rod 18 can provide adjustment support for the changes in the fingertip angle and the distance from the fingertip to the palm, and is used to provide adaptive buffer support compensation for the real-time changes in the distance from the fingertip to the palm. Thus, the buffer mechanism composed of rotation and sliding modes is dynamically and adaptively connected and adjusted with the device to help adapt to the flexible and uninterrupted rotation of the finger pointing during hand flexion and extension, and the continuous change in the distance from the fingertip to the palm, and realize dynamic adjustment when the natural physiological movement trajectory of the fingertip hand joint is not completely synchronized with the movement trajectory of the treatment component, and realize flexible rotation changes of the hand joint during hand flexion and extension, avoiding harm to the patient. Of course, the external force of the device of the present application can effectively act on the stiff finger joints, while maintaining the flexion position of the proximal and distal interphalangeal joints, gently stretching the metacarpophalangeal joints to extension, and achieving significant therapeutic effects.

[0090] refer to Figure 1-Figure 2 In some embodiments, when used for interphalangeal joint treatment, the length direction of the transmission rod 17 intersects with the sliding direction of the sliding adjustment component 6a-1;

[0091] There are two or more rotating position compensation driving rods 18 , which are arranged at intervals in the length direction of the transmission rod 17 , and each of the rotating position compensation driving rods 18 is rotatably connected to the transmission rod 17 .

[0092] Specifically, there are two or more rotating position compensation drive rods 18 in order to accommodate the number of multiple fingers. Each rotating position compensation drive rod 18 is rotatably connected to the transmission rod 17, and each rotating position compensation drive rod 18 is slidably sleeved with a finger sleeve 71, so that multiple fingers can achieve the same treatment effect when treating interphalangeal joints, and the comfort and safety of each finger can be guaranteed.

[0093] refer to Figure 5 In some embodiments, the positioning treatment component 6b further includes:

[0094] A palm block 74 connected to the adjustment belt and used to locate the palm position;

[0095] a palm strap 73 connected to the palm block 74 and used to restrain the palm to the palm block 74;

[0096] The wrist strap 75 is connected to the palm block 74 and is used to bind the wrist to the palm block 74 .

[0097] Specifically, before treatment, the palm can be placed on the palm block 74. Since the palm block 74 is connected to the adjustment strap, the position of the palm can be located; the palm strap 73 and the wrist strap 75 respectively bind the palm and wrist to the palm block 74, thereby forming an interphalangeal joint treatment glove, which is conducive to ensuring the stability of the hand position during treatment and avoiding safety accidents caused by hand slipping during exercise.

[0098] refer to Figure 1-Figure 2 In some embodiments, it further includes a scale disk 13, which is coaxially arranged with the rotating shaft 6a-2; a rotary scale 10 is distributed around the disk surface of the scale disk 13, and a plurality of rotary limit switches 9 are provided on the circumference of the scale disk 13.

[0099] Specifically, rotary scales 10 are distributed around the scale disk 13 to intuitively display the angle of joint movement treatment; the rotary limit switch 9 can preset the rotation angle range according to different treatment parts, and control the reduction motor 23 to stop rotating when reaching the preset first stage angle position to avoid excessive rotation and ensure safe use.

[0100] It is worth pointing out that the reference Figure 1 , when used for thumb joint treatment, the number of the rotating position compensation drive rod 18 is set to one to meet the use requirements. The treatment method is consistent with the above-mentioned interphalangeal joint treatment method, the only difference is that the finger sleeve 71 is used to fix the thumb, and the rotating position compensation drive rod 18 and the hand support rod 16 are designed to be shorter. During treatment, taking a1 as an example of selecting 80°, the palm joint is placed on the hand support rod 16, the thumb is inserted into the finger sleeve 71, and the rotary drive mechanism provides a rotary drive force to drive the rotation and translation mechanism 6a to rotate 80° as a whole; when it exceeds 80°, the sliding adjustment component 6a-1 of the rotation and translation mechanism 6a is driven to drive the transfer rod 17 to rotate in space and translate at a preset speed, and at the same time, the thumb joint is pushed to perform flexion and extension treatment movements through the rotating position compensation drive rod 18 and the finger sleeve 71. During this process, the finger sleeve 71 can adaptively slide along the rotating position compensation drive rod 18, and at the same time, the rotating position compensation drive rod 1 8 can rotate flexibly in space relative to the transmission rod 17. Therefore, when the thumb joint is pushed by the sliding adjustment component 6a-1 to move, the rotation of the rotary position compensation drive rod 18 and the sliding of the finger sleeve 71 form a buffer mechanism, which can perform compensation adjustment when the natural movement trajectory of the thumb joint is not completely synchronized with the overall standard movement trajectory of the sliding adjustment component 6a-1 (the standard movement trajectory is unchanged), ensuring that the joint can still move according to its own physiological trajectory when being driven, and can avoid the direct impact of the device when the joint moves, thereby ensuring the safety of the connection between the patient's body and the positioning treatment component 6b.

[0101] During thumb flexion and extension treatment, the spatial angular direction of the fingertip (finger sleeve 71) will rotate and change. At this time, the free and flexible rotation of the rotary position compensation driving rod 18 relative to the transmission rod 17 can be used as a buffer for direction adjustment, which is used to provide adaptive buffer compensation for the adjustment of the direction of the thumb fingertip (finger sleeve 71); and during thumb flexion and extension treatment, the distance from the thumb tip to the palm will also change uncertainly. At this time, the free sliding of the finger sleeve 71 along the rotary position compensation driving rod 18 can be used as a buffer for the distance adjustment, which is used to provide adaptive buffer compensation for the real-time change of the distance from the fingertip to the palm, and then adjust the compensation to adapt to the actual physiological motion trajectory, realize direction and distance compensation, and enable the designed motion trajectory of the positioning treatment component 6b to adapt to the natural motion trajectory of all hand joints theory within the envelope range between H and K.

[0102] In addition, this embodiment can at least achieve the same effect as the above-mentioned interphalangeal joint treatment. Please refer to the above description of the interphalangeal joint treatment for details, which will not be repeated here.

[0103] refer to Figure 1 and Figure 6 In some embodiments, the positioning treatment component 6b includes:

[0104] A connecting rod 32 connected to the side of the sliding adjustment component 6a-1;

[0105] The palm-wrist clamp frame 30 is connected to the connecting rod 32;

[0106] The lower support rod 29 is fixed to the palm-wrist clamp frame 30;

[0107] The upper movable rod 19 is spaced apart from the lower support rod 29 in the vertical direction and is arranged on the palm-wrist clamp frame 30 in an adjustable manner.

[0108] Specifically, the positioning treatment component 6b of this embodiment is suitable for flexion and extension therapeutic movements of the palm joint and wrist joint. During treatment, taking the downward forward movement as an example, the palm joint is placed on the hand support rod 16, and the metacarpophalangeal joint is clamped between the upper movable rod 19 and the lower support rod 29. The rotary drive mechanism provides a rotary drive force, driving the rotation and translation mechanism 6a as a whole to rotate along an arc trajectory to a preset first-stage angle of 88°-92°; when the rotation exceeds the preset first-stage angle, it enters the second stage. The sliding adjustment component 6a-1 of the rotation and translation mechanism 6a drives the connecting rod 32 to rotate in space and translate in a direction close to the rotation axis 6a-2. The two-stage motion trajectory can be included as needed, which is conducive to matching the natural flexion and extension motion trajectory of the human hand joint. The palm joint and wrist joint are pushed to perform flexion and extension therapeutic movements through the upper movable rod 19 and the lower support rod 29.

[0109] In the second stage, the rotation and translation mechanism 6a itself can rotate around the rotation center axis of the rotation drive mechanism, and the sliding adjustment component 6a-1 of the rotation and translation mechanism 6a can also slide radially along the rotation center axis of the rotation drive mechanism. This composite motion conforms to the natural flexion and extension motion trajectory of the human hand joints.

[0110] One end of the positioning treatment component 6b is installed on the sliding adjustment component 6a-1 of the rotary arm driven translation and rotation mechanism 6a, and the other end is connected to the patient's palm joint, driving the patient's palm joint and wrist joint to perform continuous flexion and extension movements. The motion trajectory of the connected sliding adjustment component 6a-1 and the positioning treatment component 6b consists of two stages: an arc and an involute, which is conducive to making the movement of the palm joint and wrist joint close to the natural motion trajectory.

[0111] Of course, the movement trajectory of the connected sliding adjustment component 6a-1 and the positioning treatment component 6b can also have only a local stage of the arc, and the present application does not impose any restrictions on this. For example, taking the first stage angle of 90° as an example, when the palm joint moves, the trajectory starts from -30° above 0° for dorsiflexion movement and ends at 90° below 0°. When the wrist joint moves, the trajectory starts from -50° above 0° for dorsiflexion movement and ends at 90° below 0°. The palm joint and wrist joint can also be effectively treated, and the movement of the palm joint and wrist joint is close to the natural movement trajectory.

[0112] The motion trajectory designed in this application includes two motion trajectories, the first stage and the second stage. Theoretically, it is close to the natural trajectory of the joint. The designed motion trajectory can cover the range of the natural motion trajectory envelope in all situations. That is, no matter how the patient's palm joints and wrist joints move, the device trajectory of this embodiment can be covered, and the safety of the connection between the device and the patient can also be guaranteed.

[0113] During use, this invention strictly controls limb fixation, force application points, and motion trajectory, ensuring that the passive motion curves of the palm and wrist joints closely mirror the natural motion trajectory of the hand joints. To address complex joint movements, the innovative design concept of applying force in the direction of an Archimedean involute allows joint flexion to achieve a normal fisting angle, while maintaining comfort and pain for the patient throughout the entire process.

[0114] The external force of the device of the present application can effectively act on the stiff palm joints and wrist joints, while maintaining the joint flexion position, and gently stretching the palm joints and wrist joints to straighten them, with significant therapeutic effects.

[0115] Early postoperative treatment with exercise methods that conform to the physiological curve can enable patients to perform joint movements within a painless range in the early stage, speed up the treatment process, and avoid unnecessary medical accidents such as obvious postoperative joint swelling and increased drainage volume caused by movements that do not conform to the physiological curve. In severe cases, it may even lead to loosening of implanted prostheses, wound dehiscence, and other unnecessary medical accidents.

[0116] refer to Figure 6 In some embodiments, a soft cover is coaxially sleeved on the lower support rod 29. The soft cover is made of a resilient material and can provide cushioning for the palm, thereby improving the comfort of use.

[0117] refer to Figure 6 In some embodiments, the side of the palm-wrist clamp frame 30 is provided with a sliding groove extending up and down, and the upper movable rod 19 can be slidably embedded in the sliding groove;

[0118] It also includes an adjusting screw 31 that is screwed into the palm-wrist clamp frame 30 from above and threadedly engaged with the palm-wrist clamp frame 30 ; the end of the adjusting screw 31 is connected to the upper moving rod 19 .

[0119] Specifically, according to the thickness of the palms of different patients, the screw-in length of the adjusting screw 31 can be changed, thereby adjusting the distance between the upper moving rod 19 and the lower support rod 29 to achieve flexible adaptation to the palms of different patients.

[0120] refer to Figure 7-Figure 9 In some embodiments, the positioning treatment component 6b includes:

[0121] A connecting rod 51 connected to the side of the sliding adjustment component 6a-1;

[0122] A lower support shaft 53 connected to the connecting rod 51;

[0123] An upper strap 52 is spaced apart from the lower support shaft 53 and is used to fix the hand back elastic fabric 55;

[0124] The back of the hand elastic fabric 55 is used for positioning and fitting the back of the hand;

[0125] Finger loop 57, provided on the lower surface of the elastic fabric 55 on the back of the hand, for fixing the fingers;

[0126] Specifically, the upper strap 52, the back of the hand elastic fabric 55, and the finger loops 57 form a wrist and palm glove.

[0127] Specifically, the positioning treatment component 6b of this embodiment is suitable for wrist-palm combined treatment exercises. During wrist-palm combined treatment, the wrist joint is first placed on the hand support rod 16; the fingers are inserted into the finger ring 57, the back of the hand elastic cloth 55 is positioned and fits the back of the hand, and the palm is inserted between the lower support shaft 53 and the upper strap 52. The upper strap 52 and the back of the hand elastic cloth 55 are fixedly connected and fit together. At this time, the palm and back of the hand are clamped between the lower support shaft 53 and the upper strap 52;

[0128] During exercise therapy, in the first stage, the rotary drive mechanism provides a rotary drive force, driving the rotation and translation mechanism 6a to rotate from -50° along the arc trajectory to the preset first stage angle α (88°-92°), reaching position A; when the rotation exceeds the preset first stage angle, it enters the second stage, driving the sliding adjustment component 6a-1 on the rotation and translation mechanism 6a to drive the connecting rod 51 to rotate in space while translating in the direction close to the rotation axis 6a-2, and the displacement trajectory shrinks by an angle of 48°-52° along the base circle tangent to reach position B. Specifically, if Figure 10 and Figure 12 When the rotary drive mechanism rotates counterclockwise, the lower support shaft 53 rotates adaptively from below to squeeze and massage the fingers, and pushes the palm upward to perform a back extension movement (the back extension trajectory is an arc, and the angle can reach -50°, for example); Figure 11 and Figure 12 When the rotary drive mechanism rotates clockwise, the upper strap 52 pulls downward from above and applies pressure through the elastic cloth 55 on the back of the hand bound to it, causing the back of the hand to perform a flexion movement (the flexion trajectory, for example, includes a 90° circular arc trajectory in the first stage and a 50° involute trajectory in the second stage). That is, the present application pushes the palm from two directions to perform a flexion and extension therapeutic movement that matches the natural trajectory of the wrist-palm complex movement through the upper strap 52 and the lower supporting shaft 53.

[0129] The rotational translation mechanism 6a can rotate around the rotational center axis of the rotational drive mechanism in the first stage, and the sliding adjustment component 6a-1 of the rotational translation mechanism 6a can also slide radially along the rotational center axis of the rotational drive mechanism in the second stage. The motion trajectory containing a total of two stages is conducive to correspondingly matching the natural trajectory of the wrist-palm combined movement.

[0130] One end of the positioning treatment component 6b is installed on the sliding adjustment component 6a-1 of the swing arm driven translation and rotation mechanism 6a, and the other end is connected to the patient's flat palm, driving the patient's palm to perform continuous dorsiflexion and flexion movements. The motion trajectory of the connected sliding adjustment component 6a-1 and the positioning treatment component 6b consists of two sections: a circular arc in the first stage and a composite movement trajectory in the second stage (wherein the composite movement trajectory in the second stage runs according to the trajectory of Archimedean involute contraction), which is conducive to making the wrist-palm composite treatment movement close to the theoretical natural movement trajectory.

[0131] The motion trajectory designed in this application includes two motion trajectories, the first stage and the second stage. Theoretically, it is close to the natural trajectory of the joint. The designed motion trajectory can cover the range of the natural motion trajectory envelope in all situations. That is, no matter how the patient's wrist and palm move, the device trajectory of this embodiment can be covered, and the safety of the connection between the device and the patient can also be guaranteed.

[0132] During use, this invention strictly controls limb fixation, force application points, and motion trajectory, ensuring that the wrist-to-palm composite passive motion curve conforms to the natural motion trajectory of the hand joint. To address the complex wrist-to-palm composite joint motion, the innovative design concept of applying force in the direction of an Archimedean involute allows the palm to bend to a normal angle, while maintaining comfort and painlessness for the patient throughout the entire operation.

[0133] The external force of the device of the present application can effectively act on the stiff wrist-palm complex, while maintaining the joint flexion position and gently stretching the joint to straightness, with significant therapeutic effect.

[0134] Early postoperative treatment with exercise that conforms to the physiological curve can enable patients to perform joint movements within a painless range early on, speeding up the treatment process and thus avoiding unnecessary medical accidents such as significant postoperative joint swelling and increased drainage volume caused by exercise treatment that does not conform to the physiological curve, and even loosening of implanted prostheses, wound dehiscence, and other unnecessary medical accidents in severe cases.

[0135] refer to Figure 9 In some embodiments, a fixing belt 58 is further included, which is connected to the end of the back of the hand elastic cloth 55 close to the fingers, and is used to fix the back of the hand elastic cloth 55 to the lower support shaft 53.

[0136] Specifically, by combining the fixing strap 58, this embodiment can also achieve a combined fist-clenching therapy. Specifically, during combined fist-clenching therapy, the fixing strap 58 is operated to connect the wrist-palm glove to the lower support shaft 53. Since the palm is fixed between the lower support shaft 53 and the upper strap 52, when the rotary drive mechanism rotates counterclockwise, the lower support shaft 53 pushes the palm upward from below to rotate, which causes the fingers to perform a passive stretching movement. When the rotary drive mechanism rotates clockwise, the upper strap 52 and fixing strap 58 push the palm downward from above to rotate, which causes the fingers to perform a passive fist-clenching therapy.

[0137] During exercise therapy, Figure 13 In the first stage, the rotary drive mechanism provides a rotary drive force, which can drive the rotation and translation mechanism 6a to rotate from -30° along the arc trajectory to the preset first stage angle α (88°-92°), reaching position A; when the rotation exceeds the preset first stage angle, it enters the second stage, driving the sliding adjustment component 6a-1 on the rotation and translation mechanism 6a to drive the connecting rod 51 to rotate in space while translating in the direction close to the rotation axis 6a-2. The displacement trajectory shrinks along the tangent line of the base circle to form an involute, and the movement angle range is 170°-175° to reach position B. Specifically, if Figure 10 and Figure 12 When the rotary drive mechanism rotates counterclockwise, the lower support shaft 53 rotates adaptively from below to squeeze and massage the fingers, and pushes the fingers upward to do a back extension movement (the back extension trajectory is an arc, and the angle can reach -30°); Figure 11and Figure 12 When the rotary drive mechanism rotates clockwise, the upper strap 52 pulls and presses the hand downward from above through the elastic cloth 55 bound to the hand to make the hand do a forward flexion and fisting movement (the forward flexion trajectory is as follows: Figure 13 It may include a 90° circular arc trajectory and a 175° involute trajectory in the second stage), that is, the present application uses the upper strap 52 and the lower support shaft 53 to push the fingers from two directions to perform flexion and extension therapeutic movements that match the natural trajectory of fist-clenching and finger-extending movements.

[0138] One end of the positioning treatment component 6b is installed on the sliding adjustment component 6a-1 of the rotary arm driven translation and rotation mechanism 6a, and the other end is connected to the patient's flat palm, driving the patient's fingers to make a fist and extend their fingers. The motion trajectory of the connected sliding adjustment component 6a-1 and the positioning treatment component 6b consists of two sections: a circular arc in the first stage and a composite movement trajectory in the second stage (wherein the composite movement trajectory in the second stage runs according to the trajectory of Archimedean involute contraction), so that the trajectory of the fist-making and finger-extending treatment movement is close to the theoretical natural movement trajectory.

[0139] The motion trajectory designed in this application includes two motion trajectories, the first stage and the second stage. Theoretically, it is close to the natural trajectory of the joint. The designed motion trajectory can cover the range of the natural motion trajectory envelope in all situations, that is, no matter how the patient makes a fist and extends his fingers, the device trajectory of this embodiment can be covered, and the safety of the connection between the device and the patient can also be guaranteed.

[0140] During use, the present invention strictly controls limb fixation, force application points, and motion trajectory, ensuring that the passive motion curve of fist-clenching and finger-extending conforms to the natural motion trajectory of the hand joints. To address the complex joint movements of fist-clenching and finger-extending, the innovative design concept of using an Archimedean involute as the force direction allows the palm to bend to a normal angle, while maintaining comfort and painlessness for the patient throughout the entire process.

[0141] The external force of the device of the present application can effectively act on stiff joints, while maintaining a flexed fist position and gently stretching the joints to straightness, with significant therapeutic effects.

[0142] refer to Figure 7 In some embodiments, a soft cover is coaxially sleeved on the lower support shaft 53. The soft cover is made of a resilient material and can provide cushioning for the palm, thereby improving the comfort of use.

[0143] refer to Figure 9 In some embodiments, the positioning treatment component 6b further includes:

[0144] The wrist strap 56 is connected to the back-of-hand elastic fabric 55 and is used to bind the wrist to the back-of-hand elastic fabric 55 .

[0145] Specifically, before treatment, the wrist can be bound to the elastic cloth 55 on the back of the hand using the wrist strap 56, thereby ensuring the stability of the hand position during treatment and preventing accidents caused by hand slipping during exercise.

[0146] refer to Figure 14-15 In some embodiments, the positioning treatment component 6b includes:

[0147] A connecting rod 64 connected to the side of the sliding adjustment component 6a-1;

[0148] an ulnar side partition 62 connected to the connecting rod 64 and used to support the ulnar side of the palm from below;

[0149] The palm strap 61 is used to cooperate with the ulnar partition 62 to fix the palm and keep the palm in a side-standing position.

[0150] The positioning treatment component 6b of this embodiment is suitable for radioulnar deviation treatment exercises. Specifically, when treating radioulnar deviation, the wrist joint is first placed on the hand support rod 16, the ulnar side of the palm is placed on the ulnar partition 62 below, and the palm strap 61 is used to fix the palm on the ulnar partition 62 in a side-standing position.

[0151] During downward forward motion, the rotary drive mechanism provides a rotary driving force, driving the entire rotary-translational mechanism 6a to rotate along an arc trajectory to a preset first-stage angle of 58°-62°. When the rotation exceeds the preset first-stage angle, the system enters the second stage, where the sliding adjustment component 6a-1 of the rotary-translational mechanism 6a drives the connecting rod 64 to rotate in space and translate in a direction close to the rotation axis 6a-2. Because the palm is fixed between the ulnar partition 62 and the palm strap 61, the movement of the connecting rod 64 drives the palm to undergo lateral deviation treatment. This two-stage motion trajectory, as needed, facilitates matching the natural flexion and extension motion trajectory of the human hand joint. This embodiment achieves treatment of radioulnar deviation through clockwise and counterclockwise rotation of the rotary drive mechanism.

[0152] In the second stage, the rotation and translation mechanism 6a itself can rotate around the rotation center axis of the rotation drive mechanism, and the sliding adjustment component 6a-1 of the rotation and translation mechanism 6a can also slide radially along the rotation center axis of the rotation drive mechanism. This composite motion conforms to the involute motion trajectory of the natural flexion and extension of the human hand joints.

[0153] One end of the positioning treatment component 6b is installed on the sliding adjustment component 6a-1 of the rotary arm driven translation and rotation mechanism 6a, and the other end is connected to the palm in the side-standing state, driving the patient's palm to perform continuous lateral movement. According to the form of the radioulnar lateral movement, the movement trajectory of the connected sliding adjustment component 6a-1 and the positioning treatment component 6b can be composed of two stages: an arc and an involute, which is conducive to making the radioulnar lateral movement of the palm close to the theoretical natural movement trajectory.

[0154] Of course, the movement trajectory of the connected sliding adjustment component 6a-1 and the positioning treatment component 6b can also have only a partial stage of the arc, and this application does not limit this. For example Figure 16 Taking the preset first-stage angle of 60° as an example, the trajectory of radioulnar deviation movement starts from -30° above 0° and ends at 60° below 0°, which can also effectively treat radioulnar deviation. The movement of radioulnar deviation is close to the natural movement trajectory.

[0155] The motion trajectory designed in this application includes two motion trajectories, the first stage and the second stage. Theoretically, it is close to the natural trajectory of the joint. The designed motion trajectory can cover the range of the natural motion trajectory envelope in all situations. That is, no matter how the patient's palm moves in the radial and ulnar direction, the device trajectory of this embodiment can be covered, and the safety of the connection between the device and the patient can also be guaranteed.

[0156] During use, the present invention strictly controls limb fixation, force application points, and motion trajectory, ensuring that the passive motion curve for radioulnar deviation of the hand closely matches the natural motion trajectory of the hand joint. To address the complex motion of the radioulnar deviation joint, the innovative design concept of an Archimedean involute as the force direction allows for normal hand flexion, while maintaining comfort and painlessness for the patient throughout the entire operation.

[0157] The external force of the device of the present application can effectively act on the stiff palmar radioulnar joint, while maintaining the joint flexion position and gently stretching the joint to straightness, with significant therapeutic effect.

[0158] Early postoperative treatment with exercise that conforms to the physiological curve can enable patients to perform joint movements within a painless range early on, speeding up the treatment process and thus avoiding unnecessary medical accidents such as significant postoperative joint swelling and increased drainage volume caused by exercise treatment that does not conform to the physiological curve, and even loosening of implanted prostheses, wound dehiscence, and other unnecessary medical accidents in severe cases.

[0159] refer to Figure 17-18 In some embodiments, the base 11 further includes an insertion port, which is provided below the rotation axis 6a-2 and is used to cooperate with and insert the bottom support rod 1d, and to make the central axis of the bracket 1 parallel to the rotation axis 6a-2;

[0160] It also includes a forearm treatment handle 6c, which is connected to the rotary drive mechanism; the forearm treatment handle 6c includes a bracket, a rotating handheld shaft 6c-2 and a strap 6c-3, the bracket is connected to the rotary drive mechanism and includes a long side 6c-1 and a short side 6c-4; the two ends of the rotating shaft 6C-2 are respectively connected to the end of the long side 6c-1 and the end of the short side 6c-4, the strap 6c-3 is attached to the back of the hand, and cooperates with the rotating handheld shaft 6c-2 to fix the hand, and the short side 6c-4 is configured to be close to the base of the hand.

[0161] Specifically, the forearm treatment handle 6c is connected to the rotary drive mechanism, and the bottom support rod 1d is plugged into the plug interface. At this time, the central axis of the bracket 1 is parallel to the rotation axis 6a-2. The forearm is placed on the bracket 1 and the forearm treatment handle 6c is held by hand. After the rotary drive mechanism is started, it provides a rotary drive force to drive the forearm treatment handle 6c to rotate. The thumb at the base of the hand is located at the short side. The treatment hand holds the rotation axis 6C-2 and tightens the strap 6C-3. When the rotary drive mechanism rotates, the rotation axis 6C-2 rotates, thereby pushing the entire palm to perform external rotation treatment. When the rotary drive mechanism rotates in the opposite direction, the strap 6C-3 pushes the back of the hand to perform internal rotation treatment. The functionality of this application is expanded and can be applied to the treatment of more arm joints.

[0162] refer to Figure 19 After the treated hand grasps the rotation axis 6c-2 of the forearm treatment handle 6c, the short side 6c-4 is configured to be close to the base of the hand relative to the rotation axis 6d-1 of the existing treatment handle 6d, and the entire rotation axis 6c-2 is closer to the center of the palm. During the forearm external supination treatment, the rotation axis 6c-2 can act on the entire metacarpal bone, thereby effectively pushing the entire palm for treatment.

[0163] The present application also provides an automatic control method for a postoperative hand joint treatment system, comprising:

[0164] Obtain information about the target hand joint that needs treatment, for example, by placing an image sensor or other device on the side of the system to collect image information of the positioning treatment component, and compare it with the system's pre-stored images to automatically confirm the type of the positioning treatment component. The type of the positioning treatment component can automatically determine the corresponding target hand joint that needs treatment;

[0165] Switching the target motion mode based on the joint position information, wherein the target motion mode pre-stores the specific parameter values ​​of the preset first stage angle α, movement speed, position A, and position B, and different target motion modes correspond to corresponding positioning treatment components and target hand joint positions;

[0166] Based on the target motion mode, the rotary drive mechanism is controlled to start providing a rotary drive force, and drives the sliding adjustment component 6a-1 to rotate the preset first stage angle α to form an arc trajectory;

[0167] And, after being driven to reach the preset first stage angle α, the sliding adjustment component 6a-1 is controlled to rotate and translate in a direction close to the rotation axis 6a-2 to reach the second stage position B to form an involute trajectory;

[0168] The positioning treatment component 6b moves along with the sliding adjustment component 6a-1, driving the target hand joint that needs to be treated to move, and the movement trajectory includes an arc in the first stage and an involute in the second stage.

[0169] Automatic treatment can be achieved by adopting automatic control methods. After the patient selects the required positioning treatment components, the system can automatically determine the hand joint part to be treated and then run the corresponding target motion mode, eliminating the need for step-by-step manual operation. The flexibility of use is improved and labor costs are significantly reduced.

[0170] refer to Figure 20 In some embodiments, the rotation and translation mechanism 6a includes:

[0171] A shaft collar 33 is sleeved on the rotary drive mechanism and can rotate with the rotary drive mechanism;

[0172] The hand support rod 16 is connected to the shaft sleeve through the swing plate 4 and rotates with the shaft sleeve, and is used to support the hand;

[0173] a rotating support plate 37 connected to the shaft collar 33;

[0174] a sliding adjustment component 6a-1, slidably connected to the surface of the rotating support plate 37, configured to be driven to slide relative to the surface of the rotating support plate 37, and wherein the sliding direction of the sliding adjustment component 6a-1 is perpendicular to the axial direction of the rotating shaft 6a-2 of the rotating support plate 37;

[0175] an elastic member 35 connected between an end of the rotating support plate 37 close to the bracket 1 and the sliding adjustment component 6a-1, and configured to be compressed and accumulate potential energy when the sliding adjustment component 6a-1 moves;

[0176] Specifically, the hand support rod 16 is used to support the hand during treatment to avoid limb injuries caused by unstable hand position during treatment.

[0177] Place the forearm on the bracket 1, and place the palm on the hand support rod 16, and place the joint that needs treatment on the positioning treatment component 6b; after the rotary drive mechanism is started, it provides a rotary drive force, and drives the hand support rod 16, the rotating support plate 37, and the sliding adjustment component 6a-1 to rotate through the shaft ring 33; when the preset first-stage angle α is exceeded, the power device is used to drive the sliding adjustment component 6a-1 to rotate and translate in the direction close to the rotation axis 6a-2 (in the radial direction of the rotation axis 6a-2), and the sliding adjustment component 6a-1 undergoes a compound motion and generates an Archimedean involute trajectory. The positioning treatment component 6b is installed on the sliding adjustment component 6a-1, and the other end is connected to a specific part of the patient's hand to drive different joints of the patient's hand to perform continuous flexion and extension movements.

[0178] The elastic member 35 will accumulate force and tend to rebound during the movement of the sliding adjustment member 6a-1, which is conducive to promoting the reciprocating motion of the joint in the forward and reverse directions, and the expansion and contraction of the movement trajectory can be achieved through the resetting of the elastic member 35.

[0179] refer to Figure 20 In some embodiments, the rotation and translation mechanism 6a further includes a guide limit rod 34, the length direction of the guide limit rod 34 is perpendicular to the axial direction of the rotation axis 6a-2 of the rotation support plate, and the sliding adjustment component 6a-1 is sleeved on the guide limit rod 34; the elastic member 35 is sleeved on the guide limit rod 34, and the two ends of the elastic member 35 respectively abut against one end of the rotation support plate 37 close to the bracket 1 and the sliding adjustment component 6a-1.

[0180] Specifically, the guide limit rod 34 is used to provide guidance for the translation of the sliding adjustment component 6a-1 and the deformation direction of the elastic member 35, so as to avoid the movement effect being reduced or even a safety hazard being caused by the deviation of the moving direction of the sliding adjustment component 6a-1 during the movement.

[0181] refer to Figure 20 In some embodiments, the rotation-translation mechanism 6a further includes a cable 38 connecting the collar and the sliding adjustment component 6a-1. The cable 38 can limit the sliding adjustment component 6a-1, preventing the sliding adjustment component 6a-1 from excessively moving away from the rotation axis 6a-2, which could increase safety risks.

[0182] refer to Figure 20 In some embodiments, the sliding adjustment component 6a-1 includes:

[0183] The movable body 36 is slidably connected to the surface of the rotating support plate 37 via a guide rail, and the sliding direction of the movable body 36 is perpendicular to the axial direction of the rotating shaft 6a-2;

[0184] The motion connection platform 14 is fixedly connected to the moving body 36 by bolts, and a connection hole 14a is provided on the motion connection platform 14 for cooperating with and connecting the positioning treatment component 6b.

[0185] Specifically, the motion connection platform 14 is fixedly connected to the mobile body 36 by bolts, which facilitates the replacement of motion connection platforms 14 of different specifications to meet the treatment needs of patients with different physiques; the motion connection platform 14 can be provided with connection holes 14a at the ends close to the rotation axis 6a-2 and away from the rotation axis 6a-2, respectively, for cooperating and connecting different forms of positioning treatment components 6b at different positions.

[0186] refer to Figure 21In some embodiments, the rotary drive mechanism includes:

[0187] reduction motor 23;

[0188] The rotary output shaft 25 is connected to the main shaft of the reduction motor 23 through the shaft sleeve 24 and is seated on the chassis 2 through bearings.

[0189] Specifically, the control unit processes control signals such as the angular range and operating speed into output execution signals for the reduction motor 23. The reduction motor 23 serves as the actuator for the angular range and average angular velocity. The main shaft of the reduction motor 23 is connected to the rotary output shaft 25 via a sleeve 24. The rotary output shaft 25 is connected to the rotational translation mechanism 6a. When the reduction motor 23 is activated, its rotation drives the rotary output shaft 25 and the rotational translation mechanism 6a to achieve rotational motion control.

[0190] refer to Figure 21 In some embodiments, a limiting rod 26 is fixedly connected to the outer circumferential surface of the sleeve 24 to prevent the sleeve 24, the rotary output shaft 25 and the rotation and translation mechanism 6a from excessively rotating to avoid safety accidents.

[0191] refer to Figure 2 In some embodiments, a touch unit 2a is further included, connected to the rotary drive mechanism, and the touch unit 2a stores control parameters. System control parameters are input through the HMI touch unit 2a, such as the preset first-stage angle α, operating speed, safety protection level, and extended parameters corresponding to different treatment areas. Different positioning treatment components 6b are components that directly contact the patient. Their motion trajectories simulate the natural flexion and extension motion trajectories of the human hand and wrist joints. Therefore, they need to be set within a safe range of motion to safely drive the patient's metacarpophalangeal joints, wrist joints, and wrist-palm combined passive motion.

[0192] The translation of the sliding adjustment component 6a-1 can be driven by a power driving component connected thereto, including but not limited to an electric or hydraulic rod driving movement.

[0193] refer to Figure 1 In some embodiments, the bracket 1 includes:

[0194] Base 11;

[0195] The bottom support rod 1d is movably connected to the base 11 via a connecting bolt 1c;

[0196] The telescopic support rod 1f is hinged to the bottom support rod 1d via a gear meshing point 1e;

[0197] The tray 1a is hinged to the telescopic support rod 1f via a gear meshing point 1b.

[0198] Specifically, the up and down tilt angles of the tray 1a can be adjusted by adjusting the gear meshing point 1b, and the tilt angle of the telescopic support rod 1f can be changed by adjusting the gear meshing point 1e, thereby changing the height of the adjustment tray 1a. By adjusting the telescopic length of the telescopic support rod 1f, the spatial distance between the tray 1a and the rotation and translation mechanism 6a can be adjusted, thereby adjusting the position of the bracket 1 according to the length of the patient's arm, so that the patient is in the most comfortable state when connected to the equipment.

[0199] Throughout the specification and claims of this application document, the words "comprise" and "include" and variations of the words, such as "including" and "comprising" mean "including but not limited to", and are not intended to (and will not) exclude other components, integers or steps. Features, integers or characteristics described in conjunction with a particular aspect, embodiment or example of the invention will be understood to be applicable to any other aspect, embodiment or example described herein unless incompatible therewith.

[0200] It should be understood that the singular forms "a", "an", and "the" include plural references unless the context clearly dictates otherwise. The expressions "including" and / or "may include" as used in the present invention are intended to indicate the presence of corresponding functions, operations, or elements, and are not intended to limit the presence of one or more functions, operations, and / or elements. In addition, in the present invention, the terms "including" and / or "having" are intended to indicate the presence of the characteristics, quantities, operations, elements, and components disclosed in the application documents, or a combination thereof. Therefore, the terms "including" and / or "having" should be understood as additional possibilities of the presence of one or more other characteristics, quantities, operations, elements, and components, or a combination thereof.

[0201] In the present invention, the expression "or" includes any or all combinations of the words listed together. For example, "A or B" may include A or B, or may include both A and B.

[0202] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention pertains. It should also be understood that terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning consistent with the context of the relevant art and this specification, and should not be interpreted in an idealized or overly formal sense unless explicitly defined as such herein. The term "and / or" as used herein includes any and all combinations of one or more of the relevant listed items.

[0203] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A trajectory design method for post-operative hand joint treatment, characterized in that: include: The trajectory formed by the natural movements of the hand joints is recorded, and the trajectory envelope formed by various natural movements of the target hand joints forms a trajectory area; In the first stage, the sliding adjustment component of the driving mechanism is rotated in space to a preset first-stage angle α, generating an arc trajectory and reaching position A; then, when in the second stage when the rotation angle exceeds the first-stage angle α, the sliding adjustment component is driven to move toward the direction close to the rotation axis, and the sliding adjustment component realizes displacement along the radial direction of the rotation axis and gradually approaches the rotation axis. The displacement trajectory shrinks along the tangent of the base circle to form an involute and reaches position B.

2. The trajectory design method for postoperative hand joint treatment according to claim 1, characterized in that: The target hand joints include finger joints; and the trajectory design method includes: Record the trajectory of the joint movements from the distal interphalangeal joint, the proximal interphalangeal joint to the metacarpophalangeal joint to form a trajectory line H, which includes three arc segments; Recording the trajectory of the joint movements in sequence from the metacarpophalangeal joint, the proximal interphalangeal joint to the distal interphalangeal joint to form a trajectory line K, wherein the trajectory line K includes an arc and an involute in sequence; The trajectory line H and the trajectory line K envelop each other to form a closed trajectory area; In the first stage, the sliding adjustment component of the driving mechanism rotates in space to a preset first-stage angle of 78°-82°, generates an arc trajectory, and reaches position A; then, when in the second stage when the rotation angle exceeds the first-stage angle, the sliding adjustment component is driven to move in a direction close to the rotation axis, and the sliding adjustment component realizes displacement along the radial direction of the rotation axis and gradually approaches the rotation axis. The displacement trajectory shrinks 98°-102° along the tangent of the base circle and forms an involute, reaching position B.

3. A surgical method for treating hand joints after surgery, characterized in that: include: The forearm is placed on the bracket, and the target hand joint part to be treated is placed on the positioning treatment component, which is connected to the sliding adjustment component on the rotation and translation mechanism; During forward motion treatment, the rotary drive mechanism provides a rotary drive force, driving the rotary translation mechanism and the sliding adjustment component to rotate along an arc trajectory to the preset first-stage angle α and reach position A; When the rotation exceeds the preset first-stage angle α, the sliding adjustment component is driven to rotate and simultaneously driven to translate in a direction close to the rotation axis to reach the second-stage position B; Since the positioning treatment component is mounted on the sliding adjustment component, when the positioning treatment component moves along with the sliding adjustment component, it will drive the target hand joint to move, and the motion trajectory includes a circular arc trajectory in the first stage and an involute trajectory in the second stage; The trajectory envelopes formed by various natural movements of the target hand joint respectively form a trajectory area, and the trajectories of the first stage and the trajectories of the second stage cover the trajectory area; Reverse motion therapy is in the opposite direction of forward motion therapy.

4. The method according to claim 3, characterized in that The target hand joints include finger joints, and the method includes: Pre-adjust the finger cuff to the connection point on the adjustment belt, which corresponds to the part of the finger to be treated; fix the finger cuff to the connection point using the fixing belt, and pass the rotary position compensation drive rod through the finger cuff; The palm joint is placed on the hand support rod, the fingers are inserted into the finger sleeves, and the rotary drive mechanism provides a rotary drive force, driving the rotation and translation mechanism to rotate as a whole to the preset first stage angle of 78°-82°, reaching position A; When the rotation exceeds the preset first-stage angle, the sliding adjustment component drives the transmission rod 17 to rotate in space and translate in a direction close to the rotation axis. The displacement trajectory shrinks by an angle of 98°-102° along the tangent of the base circle to reach the second-stage position B. The trajectory line H formed by the natural movement of the thumb or interphalangeal joint and the trajectory line K envelop a closed trajectory area, and the trajectory of the first stage and the trajectory of the second stage together cover the trajectory area. When the transmission rod rotates, the finger part is pushed to move through the rotary position compensation drive rod and the finger sleeve. The finger sleeve slides freely along the rotary position compensation drive rod. At the same time, the rotary position compensation drive rod rotates relative to the transmission rod to compensate when the natural motion trajectory of the joint is out of sync with the motion trajectory of the sliding adjustment component, so that the joint moves along its own natural motion trajectory.

5. The method according to claim 3, characterized in that The target hand joint part includes the wrist-palm complex part, and the method includes: Place the wrist joint on the hand support rod in advance; insert the fingers into the finger ring, position the elastic cloth on the back of the hand to fit the back of the hand, and insert the palm between the lower support shaft and the upper strap. The upper strap is fixedly connected and fit with the elastic cloth on the back of the hand. At this time, the palm and back of the hand are clamped between the lower support shaft and the upper strap; The rotary drive mechanism provides a rotary drive force, driving the rotational translation mechanism to rotate downward to a preset first-stage angle of 88°-92°. The upper strap pulls downward from above through the elastic fabric on the back of the hand bound to it, causing the back of the hand to flex forward to position A. When the rotation exceeds the preset first-stage angle, the sliding adjustment component is driven to rotate in space and translate in the direction close to the rotation axis to form an involute with an angle range of 48°-52°. The upper strap pulls downward from the top through the elastic cloth on the back of the hand bound to it, causing the back of the hand to flex forward to reach position B in the second stage, so that the palm moves along the wrist-palm compound motion trajectory; at this time, the trajectory of the first stage and the trajectory of the second stage cover the trajectory area enclosed by the different trajectories formed during the natural wrist-palm compound movement.

6. The method according to claim 5, characterized in that Also includes: The rotary drive mechanism provides a rotary drive force, driving the rotary translation mechanism to rotate upward to -50 degrees. The lower support shaft adaptively rotates from the bottom to squeeze and massage the fingers, and pushes the palm upward to perform a dorsal extension exercise.

7. The method according to claim 5, characterized in that The method is also used for compound fisting treatment, and further comprises: The operating fixing belt connects the wrist palm glove to the lower supporting shaft; The rotary drive mechanism provides a rotary drive force, driving the rotational translation mechanism to rotate downward to the preset first-stage angle of 88°-92°. The upper strap and the fixing strap push the palm downward from the top to rotate the fingers into a passive fist, reaching position A. When the rotation exceeds 88°-92°, the sliding adjustment component is driven to rotate in space and translate in a direction close to the rotation axis to form an involute with an angle range of 170°-177°. The upper strap and the fixing strap push the palm downward from the top to rotate the fingers so that they passively make a fist and reach position B in the second stage, so that the palm moves along the fist trajectory; the trajectory of the first stage and the trajectory of the second stage cover the closed trajectory area enclosed by all different trajectories formed during the natural fist-making movement.

8. The method according to claim 7, characterized in that Also includes: The rotary drive mechanism provides a rotary drive force, driving the rotary translation mechanism to rotate upward to -30 degrees. The lower support shaft adaptively rotates from the bottom to squeeze and massage the fingers, and pushes the fingers upward to perform back extension exercises.

9. The method according to claim 3, characterized in that The target hand joint part includes the radioulnar part, and the method includes: Place the wrist joint on the hand support bar in advance, place the ulnar side of the palm on the ulnar partition below, and fix the palm to the ulnar partition in a side-standing position using a palm strap; The rotary drive mechanism provides a rotary drive force, driving the rotational translation mechanism and the connecting rod to rotate downward to a preset first-stage angle of 58°-62°. When the connecting rod moves, it drives the palm standing on its side to move sideways to position A, causing the palm to move along the natural trajectory of radioulnar deviation. The invention also includes: a rotary driving mechanism provides a rotary driving force to drive the rotation translation mechanism to rotate upward to -30 degrees, and when the connecting rod moves, it drives the sideways palm to move sideways.

10. An automatic control method for post-operative hand joint treatment, characterized in that: include: Obtain information about the target hand joint that needs treatment; Switching the target motion mode based on the joint position information; Based on the target motion mode, the rotary drive mechanism is controlled to start and provide a rotary drive force, and the sliding adjustment component is driven to rotate a preset first-stage angle α to form an arc trajectory; And, after being driven to reach a preset first-stage angle α, the sliding adjustment component is controlled to rotate while translating in a direction close to the rotation axis to reach a second-stage position B to form an involute trajectory; The positioning treatment component moves along with the sliding adjustment component, driving the target hand joint part that needs to be treated to move, and the movement trajectory includes an arc in the first stage and an involute in the second stage.

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