Knee joint rehabilitation assisting exoskeleton device

Abstract

The invention relates to the technical field of medical instruments, in particular to a knee joint rehabilitation assisting exoskeleton device which is characterized in that sliding grooves are formed in the side walls of the two sides of a supporting plate, the upper end of the supporting plate is rotationally connected with a rotating rod through a bearing, one side of the rotating rod is fixedly connected with a driving motor, and the driving motor is fixedly connected to the supporting plate through a support; the device has the advantages that the driving motor drives the rotating rod and the bevel gear to transmit, the reciprocating lead screw drives the threaded sleeve to drive the massage roller to reciprocate in the shank muscle direction, the massage angle and strength are adjusted in cooperation with the electric telescopic rod, muscle ligaments around the knee joint can be dynamically massaged, blood circulation is promoted, and fatigue is relieved; the shank clamping ring and the thigh clamping ring are fixed through a hook-and-loop fastener elastic belt, a silica gel liner is arranged on the inner wall, meanwhile, a fixing block rotates in an annular groove through a sliding rod and is inserted into a clamping groove through an electric telescopic rod to be limited, the angle can be adjusted according to the leg shape of a patient, the wearing fitting degree and comfort are enhanced, skin compression is avoided, and loosening and displacement of the device are prevented.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to an exoskeleton device that assists in knee joint rehabilitation. Background Technology

[0002] As a vital weight-bearing joint, the knee joint often requires exoskeleton devices for support, assistance, and rehabilitation training during injury or postoperative recovery. In recent years, knee joint rehabilitation exoskeletons have garnered significant attention in the medical device field. These devices assist patients in joint movement through mechanical structures, promoting muscle function recovery and improving joint range of motion. However, existing knee joint rehabilitation exoskeletons still suffer from the following shortcomings: Traditional exoskeleton devices often have a fixed or semi-fixed design for the connection between the lower leg and thigh, making it difficult to flexibly adjust according to different patients' leg shapes, sizes, and rehabilitation stages. For example, the height and angle adjustment of the support plate in existing devices usually rely on manual knobs or bolts, which are cumbersome to operate and have low adjustment precision. They cannot achieve dynamic adaptive adjustment, resulting in poor fit between the device and the patient's limb, which affects the rehabilitation effect. Most existing exoskeleton devices only have mechanical support and passive movement functions, lacking massage stimulation of the muscles and ligaments around the knee joint. Studies have shown that combining massage during rehabilitation can promote local blood circulation and relieve muscle fatigue, but existing devices do not integrate massage components, or the position and intensity of the massage components are inconvenient to adjust, and cannot provide personalized massage assistance according to the patient's needs, thus limiting rehabilitation efficiency. Existing devices often use simple straps or buckles to secure the lower leg and thigh clasps, which are prone to loosening or displacement during patient activity, leading to decreased device stability and potentially causing secondary injuries. In addition, the inner wall material of the clasps is relatively hard and lacks cushioning design, which can easily cause skin pressure and discomfort when worn for a long time, affecting the continuity of rehabilitation training. At the same time, patients need to rely on external supports to rest when they are tired, which is not convenient to use, as they cannot be supported and rested through exoskeleton adjustment, making it inconvenient to use.

[0003] In order to address the aforementioned problems, this invention proposes an exoskeleton device to assist in knee joint rehabilitation. Summary of the Invention

[0004] To address the problems in existing technologies, this invention provides an exoskeleton device to assist in knee joint rehabilitation, which solves the problems of inconvenient adjustment, lack of massage function, and poor wearing comfort of existing devices.

[0005] The technical solution adopted by this invention to solve its technical problem is: an exoskeleton device for assisting knee joint rehabilitation, including a calf retainer, an open groove on one side of the calf retainer, threaded grooves on both sides of the open groove, a support plate slidably connected within the open groove, a base plate fixedly connected to both sides of the lower end of the support plate, and a limiting plate fixedly connected to both sides of the upper end of the support plate, each limiting plate having a through threaded hole, and bolts threadedly connected to both the threaded holes and the threaded grooves, sliding grooves on both side walls of the support plate, and a rotating rod rotatably connected to the upper end of the support plate via bearings, a drive motor fixedly connected to one side of the rotating rod, the drive motor being fixedly connected to the support plate via a bracket, and the rotating rod... Both sides of the rod wall are fixedly connected to a first bevel gear. The upper end of the base plate is rotatably connected to a reciprocating screw via bearings. The upper end of the reciprocating screw is fixedly connected to a second bevel gear, which meshes with the lower end of the first bevel gear. The reciprocating screw wall is threadedly connected to a threaded sleeve. A sliding plate is fixedly connected to one side of the threaded sleeve. The sliding plate is slidably connected in a sliding groove. A first electric telescopic rod is fixedly connected to one side of the threaded sleeve. The output end of the first electric telescopic rod is rotatably connected to a mounting cover via a rotating shaft. A massage roller is rotatably connected inside the mounting cover via bearings and a support rod. The output end of the first electric telescopic rod and the mounting cover are rotatably connected to a second electric telescopic rod via a rotating shaft.

[0006] Specifically, a first support frame is fixedly connected to both sides of the lower leg retaining ring. An opening cover is fixedly connected to the upper end of each of the first support frames. An annular groove is formed on the outer wall of the opening of the opening cover, and a connecting rod is rotatably connected to the inner wall of the opening cover via a bearing. Several slots are formed on the wall of the connecting rod. A fixing block is fixedly connected to the other side of the connecting rod. An L-shaped sliding rod is fixedly connected to both sides of the fixing block. The sliding rod is slidably connected in the annular groove. A third electric telescopic rod is fixedly connected to one side of the opening cover, and the output end of the third electric telescopic rod is inserted into the corresponding slot.

[0007] Specifically, the upper end of each fixing block is fixedly connected to a second support frame, and the output end of the second support frame is fixedly connected to a thigh retaining ring.

[0008] Specifically, the outer walls of the openings of the calf retainer and the thigh retainer are respectively fixedly connected to a first elastic band and a second elastic band that are glued together by Velcro.

[0009] Specifically, the inner walls of both the calf retainer and the thigh retainer are lined with soft silicone pads.

[0010] Specifically, several of the slots are arranged in a circular array on the wall of the connecting rod.

[0011] Specifically, a turntable is fixedly connected to the side of the bolt away from the thread groove, and a push rod is fixedly connected to the turntable.

[0012] Specifically, the inner walls of the upper ends of the calf retainer and the thigh retainer are provided with telescopic grooves, the inner walls of the telescopic grooves are provided with magnetic plates, and the magnetic plates are magnetically connected to the telescopic rings. The inner walls of the telescopic rings are provided with soft pads.

[0013] The beneficial effects of this invention are: (1) The knee joint rehabilitation exoskeleton device of the present invention drives the rotating rod and bevel gear transmission through the drive motor, so that the reciprocating screw drive sleeve drives the massage roller to move back and forth along the direction of the calf muscle. With the help of the electric telescopic rod to adjust the massage angle and intensity, it can dynamically massage the muscles and ligaments around the knee joint, promote blood circulation and relieve fatigue. (2) The knee joint rehabilitation exoskeleton device of the present invention has a lower leg clasp and a thigh clasp fixed by a Velcro elastic band, and a silicone pad is provided on the inner wall. At the same time, the fixing block rotates in the annular groove by a sliding rod and is limited by an electric telescopic rod inserted into the clasp. The angle can be adjusted according to the patient's leg shape to enhance the fit and comfort of the device, avoid skin pressure and prevent the device from loosening and shifting. (3) The knee joint rehabilitation exoskeleton device of the present invention allows the patient to adjust the second support frame to the support angle by squatting and rotating the fixed block with the thigh and calf. After locking by the electric telescopic rod, the exoskeleton structure is used to assist in support, replacing the traditional sitting posture for rest. This makes it convenient for the patient to achieve on-site support when tired, thus improving the ease of use. Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0015] Figure 1 A schematic diagram of the overall external structure of the knee joint rehabilitation exoskeleton device provided by the present invention; Figure 2 This is a schematic diagram of the overall rear view of the knee joint rehabilitation exoskeleton device provided by the present invention. Figure 3 This is a schematic diagram showing the connection between the support plate and the rotating rod in the knee joint rehabilitation exoskeleton device provided by the present invention; Figure 4 This is a rear view schematic diagram of the lower leg retainer in the knee joint rehabilitation exoskeleton device provided by the present invention. Figure 5 This is a schematic diagram of the connection structure between the first support rod and the opening cover in the knee joint rehabilitation exoskeleton device provided by the present invention. Figure 6 This is a schematic diagram of the connection structure between the second support rod and the fixing block in the knee joint rehabilitation exoskeleton device provided by the present invention. Figure 7A schematic diagram of the side connection structure between the first electric telescopic rod and the mounting cover in the knee joint rehabilitation exoskeleton device provided by the present invention; Figure 8 A top view schematic diagram of the connection structure between the first electric telescopic rod and the mounting cover in the knee joint rehabilitation exoskeleton device provided by the present invention; In the diagram: 1. Lower leg retainer; 2. Opening slide groove; 3. Threaded groove; 4. Support plate; 5. Limiting plate; 6. Threaded hole; 7. Bolt; 8. Rotating rod; 9. Drive motor; 10. First bevel gear; 11. Base plate; 12. Reciprocating lead screw; 13. Second bevel gear; 14. Sliding groove; 15. Screw sleeve; 16. Slide plate; 17. First electric telescopic rod; 18. Mounting cover; 19. Massage roller; 20. Second electric telescopic rod; 21. First support frame; 22. Opening cover; 24. Annular groove; 25. Connecting rod; 26. Retaining groove; 27. Fixing block; 28. Slide rod; 29. ​​Third electric telescopic rod; 30. Second support frame; 31. Thigh retainer; 32. Second elastic band; 33. First elastic band; 34. Telescopic groove; 35. Telescopic ring. Detailed Implementation

[0016] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0017] like Figures 1-8 As shown, the present invention provides the following technical solution: Example 1: An exoskeleton device for assisting knee joint rehabilitation includes a calf retainer 1. An open groove 2 is formed on one side of the calf retainer 1, and threaded grooves 3 are formed on both sides of the open groove 2. A support plate 4 is slidably connected within the open groove 2. A base plate 11 is fixedly connected to both sides of the lower end of the support plate 4, and a limiting plate 5 is fixedly connected to both sides of the upper end of the support plate 4. Threaded holes 6 are formed through the limiting plates 5. Bolts 7 are threadedly connected to both the threaded holes 6 and the threaded grooves 3. A turntable is fixedly connected to the side of the bolts 7 away from the threaded grooves 3. A push rod is fixedly connected to each turntable. A soft silicone pad is provided on the inner wall of the calf retainer 1. A first elastic band 33, which is fastened to each other with Velcro, is fixedly connected to the outer wall of the opening of the calf retainer 1. Sliding grooves 14 are formed on both side walls of the support plate 4, and a rotating rod 8 is rotatably connected to the upper end of the support plate 4 via a bearing. A drive motor is fixedly connected to one side of the rotating rod 8. 9. The drive motor 9 is fixedly connected to the support plate 4 via a bracket, and the first bevel gear 10 is fixedly connected to both sides of the rotating rod 8. The upper end of the base plate 11 is rotatably connected to the reciprocating screw 12 via bearings. The upper end of the reciprocating screw 12 is fixedly connected to the second bevel gear 13. The second bevel gear 13 is meshed with the lower end of the first bevel gear 10. The reciprocating screw 12 is threadedly connected to the sleeve 15. The sleeve 15 is fixedly connected to one side of the slide plate 16. The slide plate 16 is slidably connected in the sliding groove 14. The sleeve 15 is fixedly connected to one side of the first electric telescopic rod 17. The output end of the first electric telescopic rod 17 is rotatably connected to the mounting cover 18 via a rotating shaft. The massage roller 19 is rotatably connected to the mounting cover 18 via bearings and a support rod. The output end of the first electric telescopic rod 17 and the mounting cover 18 are rotatably connected to the second electric telescopic rod 20 via a rotating shaft.

[0018] When in use, put the lower leg clasp 1 on the appropriate position of the patient's lower leg and fix it with the first elastic band 33 of Velcro to ensure that the inner silicone pad fits the skin. Slide the support plate 4 along the opening groove 2 and adjust the height of the support plate 4 to the corresponding position of the knee joint. Tighten the support plate 4 by passing the bolt 7 through the threaded hole 6 and the threaded groove 3 (which can be easily operated by a turntable and push rod). Start the drive motor 9, drive the rotating rod 8 to rotate, and through the meshing transmission of the first bevel gear 10 and the second bevel gear 13, make the reciprocating screw 12 rotate, drive the screw sleeve 15 to move back and forth along the screw, and drive the massage roller 19 to move linearly along the direction of the calf muscle; According to the patient's needs, adjust the extension length of the first electric telescopic rod 17 to change the vertical height (i.e., massage intensity) of the massage roller 19; at the same time, adjust the extension length of the second electric telescopic rod 20, drive the mounting cover 18 to rotate through the rotating shaft, and adjust the tilt angle of the massage roller 19 to conform to the direction of the muscles and ligaments around the knee joint. After the massage is complete, turn off the drive motor 9, retract the first electric telescopic rod 17 and the second electric telescopic rod 20, and reset the massage roller 19.

[0019] Example 2: The technical solution of this example, which differs from Example 1, includes: First support rods 21 are fixedly connected to both sides of the lower leg retainer 1; opening covers 22 are fixedly connected to the upper ends of the first support rods 21; an annular groove 24 is formed on the outer wall of the opening of the opening cover 22; and a connecting rod 25 is rotatably connected to the inner wall of the opening cover 22 via bearings; several slots 26 are formed on the wall of the connecting rod 25; the slots 26 are arranged in a circular array on the wall of the connecting rod 25; a fixing block 27 is fixedly connected to the other side of the connecting rod 25; and the fixing block 27 has two sides... All are fixedly connected to L-shaped sliding rods 28, which are slidably connected in annular grooves 24. A third electric telescopic rod 29 is fixedly connected to one side of the opening cover 22. The output end of the third electric telescopic rod 29 is inserted into the corresponding slot 26. The upper end of the fixing block 27 is fixedly connected to the second support frame 30. The output end of the second support frame 30 is fixedly connected to the thigh retaining ring 31. The outer wall of the opening of the thigh retaining ring 31 is fixedly connected to the second elastic band 32 that is glued to each other by Velcro. The inner wall of the thigh retaining ring 31 is provided with soft silicone pads.

[0020] In use, the thigh retainer 31 is fixed to the patient's thigh using the second elastic band 32 of Velcro, ensuring that it corresponds to the position of the calf retainer 1. If it is necessary to adjust the relative angle between the thigh and the calf, first retract the third electric telescopic rod 29 so that it disengages from the slot 26 of the connecting rod 25. Manually rotate the fixing block 27 to drive the slide rod 28 to slide in the annular groove 24 of the opening cover 22. At the same time, the connecting rod 25 rotates at the bearing on the inner wall of the opening cover 22 until the thigh retainer 31 is adjusted to an angle suitable for the patient's leg shape (e.g., the angle when squatting and supporting). Extend the third electric telescopic rod 29 and insert it into the corresponding slot 26 to limit and lock the current angle. When the patient needs to rest, they squat down by coordinating their thighs and calves, which causes the fixing block 27 to rotate. The second support frame 30 adjusts the thigh retainer 31 to the support angle (such as 90 degrees or other preset angles). After confirming the angle, the connecting rod 25 is locked by the third electric telescopic rod 29. The exoskeleton structure (calf retainer 1, support plate 4, first support frame 21 and thigh retainer 31) forms a stable support, replacing the traditional sitting posture and enabling on-site support and rest.

[0021] Example 3: The technical solution that differs from Example 2 in this example includes: both the calf retainer 1 and the thigh retainer 31 have telescopic grooves 34 on their upper inner walls, and magnetic plates are installed on the inner walls of the telescopic grooves 34. The magnetic plates are magnetically connected to the telescopic rings 35, and soft pads are installed on the inner walls of the telescopic rings 35.

[0022] During use, depending on the site conditions, the telescopic rings 35 inside the telescopic grooves 34 of the lower leg retainer 1 and the thigh retainer 31 can be pulled respectively. The length can be controlled by the magnetic connection of the internal magnetic plate. The installation and wrapping can be adjusted according to the actual situation to increase the overall stability of the telescopic rings 35. At the same time, the soft pad inside the telescopic rings 35 further increases the comfort of use.

[0023] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An exoskeleton device for assisting knee joint rehabilitation, comprising a calf retainer (1), wherein an open groove (2) is provided on one side of the calf retainer (1), and threaded grooves (3) are provided on both sides of the open groove (2), a support plate (4) is slidably connected in the open groove (2), a base plate (11) is fixedly connected to both sides of the lower end of the support plate (4), and a limiting plate (5) is fixedly connected to both sides of the upper end of the support plate (4), and threaded holes (6) are provided through the limiting plates (5), and bolts (7) are threadedly connected to the threaded holes (6) and the threaded grooves (3), characterized in that: Sliding grooves (14) are provided on both sides of the support plate (4), and the upper end of the support plate (4) is rotatably connected to the rotating rod (8) through bearings. The rotating rod (8) is fixedly connected to one side of the drive motor (9), and the drive motor (9) is fixedly connected to the support plate (4) through a bracket. The rotating rod (8) is fixedly connected to both sides of the rod wall with a first bevel gear (10). The upper end of the base plate (11) is rotatably connected to the reciprocating screw (12) through bearings. The upper end of the reciprocating screw (12) is fixedly connected to the second bevel gear (13), and the second bevel gear (13) meshes with the lower end of the first bevel gear (10). The reciprocating screw (12) is threadedly connected to the sleeve (15). The sleeve (15) is fixedly connected to the slide plate (16) on one side. The slide plate (16) is slidably connected in the sliding groove (14). The sleeve (15) is fixedly connected to the first electric telescopic rod (17) on one side. The output end of the first electric telescopic rod (17) is rotatably connected to the mounting cover (18) through a rotating shaft. The mounting cover (18) is rotatably connected to the massage roller (19) through a bearing and a support rod. The output end of the first electric telescopic rod (17) and the mounting cover (18) are rotatably connected to the second electric telescopic rod (20) through a rotating shaft.

2. The knee joint rehabilitation exoskeleton device according to claim 1, characterized in that: The lower leg retaining ring (1) is fixedly connected to the first support frame (21) on both sides. The upper end of the first support frame (21) is fixedly connected to the opening cover (22). The outer wall of the opening of the opening cover (22) is provided with an annular groove (24). The inner wall of the opening cover (22) is rotatably connected to the connecting rod (25) through the bearing. The connecting rod (25) has several slots (26) on its wall. The other side of the connecting rod (25) is fixedly connected to the fixing block (27). The two sides of the fixing block (27) are fixedly connected to the sliding rod (28) arranged in an L shape. The sliding rod (28) is slidably connected in the annular groove (24). The third electric telescopic rod (29) is fixedly connected to one side of the opening cover (22). The output end of the third electric telescopic rod (29) is inserted into the corresponding slot (26).

3. The knee joint rehabilitation exoskeleton device according to claim 2, characterized in that: The upper end of each fixed block (27) is fixedly connected to a second support frame (30), and the output end of the second support frame (30) is fixedly connected to a thigh retaining ring (31).

4. The knee joint rehabilitation exoskeleton device according to claim 1, characterized in that: The outer walls of the openings of the calf retainer (1) and thigh retainer (31) are respectively fixedly connected to the first elastic band (33) and the second elastic band (32) which are glued to each other by Velcro.

5. The knee joint rehabilitation exoskeleton device according to claim 4, characterized in that: The inner walls of both the calf retainer (1) and the thigh retainer (31) are lined with soft silicone pads.

6. The knee joint rehabilitation exoskeleton device according to claim 1, characterized in that: Several of the slots (26) are arranged in a ring array on the wall of the connecting rod (25).

7. The knee joint rehabilitation exoskeleton device according to claim 1, characterized in that: The bolts (7) are all fixedly connected to a turntable on the side away from the threaded groove (3), and push rods are all fixedly connected to the turntable.

8. The knee joint rehabilitation exoskeleton device according to claim 1, characterized in that: The inner walls of the lower leg retainer (1) and the thigh retainer (31) are both provided with telescopic grooves (34). The inner walls of the telescopic grooves (34) are all equipped with magnetic plates, and the magnetic plates are magnetically connected to the telescopic rings (35). The inner walls of the telescopic rings (35) are equipped with soft pads.

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