Artificial limb running-in device based on exoskeleton

Abstract

The invention discloses an artificial limb running-in device based on an exoskeleton, belongs to the technical field of medical auxiliary instruments, and aims at solving the problems that in the prior art, subjectivity is high, efficiency is low, and a patient needs to repeatedly bear discomfort in the adjusting process. The invention comprises: a frame; the exoskeleton mechanism is arranged on the rack and comprises a thigh part, a shank part in running fit with the thigh part and a knee bending driving part for driving the shank part to bend knees relative to the thigh part; the artificial limb and the simulated broken limb at least comprise the artificial limb and the simulated broken limb, the lower end of the simulated broken limb is arranged in a receiving cavity of the artificial limb, the simulated broken limb is arranged on the thigh part, the receiving cavity of the artificial limb is arranged on the thigh part, and a shank of the artificial limb is arranged on the shank part. The artificial limb and the simulated broken limb are driven by the exoskeleton mechanism to bend knees; and the gravity loading mechanism is used for applying gravity to the upper end of the simulated broken limb.

Description

Technical Field

[0001] This invention belongs to the field of medical assistive device technology, specifically relating to an exoskeleton-based prosthetic limb adaptation device. Background Technology

[0002] For patients who have undergone lower limb amputation, prostheses are essential tools for regaining their ability to walk. The part of the prosthesis that connects to the body is called the socket, and its fit directly affects the patient's comfort and health. When a new prosthesis is worn, there is an adjustment period between the patient's severed limb or stump and the socket. Because the shape of the socket does not perfectly match the contour of the severed limb, it can lead to local pressure concentration, causing soft tissue damage and skin abrasions, resulting in significant pain for the patient and prolonging the rehabilitation training time.

[0003] Currently, the main method for shortening the break-in period relies on the experience of prosthetists, involving repeated manual adjustments of the socket based on patient feedback during trial fittings. This method is highly subjective, inefficient, and requires patients to endure repeated discomfort during the adjustment process. Summary of the Invention

[0004] The purpose of this invention is to propose an exoskeleton-based prosthetic adaptation device to solve the problems of strong subjectivity, low efficiency, and repeated discomfort that patients have to endure during the adjustment process in the existing technology.

[0005] To achieve the above objectives, the exoskeleton-based prosthetic adaptation device of the present invention includes: frame; An exoskeleton mechanism mounted on a frame, the exoskeleton mechanism including a thigh, a lower leg that rotates in coordination with the thigh, and a knee flexion drive unit that drives the lower leg to flex relative to the thigh. The prosthesis and simulated amputation limb include at least a prosthesis and a simulated amputation limb whose lower end is disposed in the receiving cavity of the prosthesis. The simulated amputation limb is disposed on the thigh, the receiving cavity of the prosthesis is disposed on the thigh, and the lower leg of the prosthesis is disposed on the lower leg. The prosthesis and simulated amputation limb are driven to perform knee flexion movement through the exoskeleton mechanism. And a gravity loading mechanism, through which gravity is applied to the upper end of the simulated amputated limb.

[0006] The rack includes: Base plate; The bracket is mounted on the base plate; The exoskeleton mechanism is fixedly connected to the upper part of its thigh section and the mounting plate located on the upper end of the support.

[0007] The thigh region includes: The upper end of the thigh plate is fixedly connected to the mounting plate of the frame; A receiving cavity fixing clamp is provided on the side wall of the thigh plate near the lower end; And a slide rail arranged vertically on the side wall of the thigh plate, the slide rail and the gravity loading mechanism working together for guidance.

[0008] The slide rails consist of two parallel rails.

[0009] The lower leg includes: The upper end of the leg rod is rotatably connected to the lower end of the thigh plate via a bearing; And a prosthesis fixation clamp is provided on the side wall of the lower leg bar, which clamps and fixes the lower leg of the prosthesis.

[0010] The knee flexion drive unit includes: A servo cylinder is connected to a thigh plate on the thigh via a connecting lug, and the servo cylinder and the thigh plate are arranged parallel to each other. A U-shaped connector that connects one end to the output end of the servo cylinder; And a support rod, one end of which is hinged to the side wall of the lower leg rod of the lower leg, and the other end is hinged to the other end of the U-shaped joint.

[0011] The prosthesis and the simulated amputated limb also include a connecting plate integrally disposed at the upper end of the simulated amputated limb, and the gravity loading mechanism acts on the connecting plate.

[0012] The gravity loading mechanism includes: Slide; A slider is disposed on the side wall of the slide block, and the slider slides in cooperation with the slide rail of the thigh. Nuts that are fixedly mounted on the mounting plate of the frame; A lead screw is arranged vertically, and the lead screw and nut form a lead screw-nut pair. The lower end of the lead screw is connected to the slide. And a handwheel located at one end of the lead screw that protrudes from the upper surface of the mounting plate.

[0013] The gravity loading mechanism also includes a pressure sensor, which is disposed on the lower surface of the slide and in contact with the simulated severed limb.

[0014] The contact surface between the simulated amputated limb and the prosthetic cavity is coated with a dyeing material.

[0015] The beneficial effects of this invention are as follows: The exoskeleton-based prosthesis break-in device of this invention first uses a silicone molding method to create a simulated amputated limb that matches the appearance of the user's amputated limb. Red ink is applied to the contact surface between the simulated amputated limb and the prosthesis's socket. Then, the simulated amputated limb and the prosthesis are worn normally, and finally, the simulated amputated limb and the prosthesis are installed onto the break-in device. When the break-in device is activated, the exoskeleton mechanism, driven by a servo cylinder, moves the prosthesis, simulating the gait of human walking. A vertically downward load is applied to the top of the simulated amputated limb through a gravity loading mechanism to simulate the weight of the human body. After a period of break-in, the prosthesis is removed, and the condition of the red ink imprinted inside the socket indicates the fit between the socket and the human body, providing a direct basis for socket adjustments. Using the exoskeleton mechanism and servo cylinder, the gait of human walking can be accurately and repeatedly simulated, replacing the inefficient traditional method of relying on the patient to personally try walking, thus improving break-in efficiency. Through the gravity loading mechanism, a vertical load equivalent to the user's body weight can be accurately applied and monitored in real time, making the break-in conditions closer to real-world usage scenarios and the evaluation results more reliable. This avoids skin damage and pain caused by discomfort in the receiving cavity during the initial adjustment period for patients, and transfers all the exploratory adjustment process to the device, greatly improving the patient experience and safety. Attached Figure Description

[0016] Figure 1 This is a front view of the overall structure of the exoskeleton-based prosthetic break-in device described in this invention; Figure 2 This is a right view of the overall structure of the exoskeleton-based prosthetic adaptation device of the present invention; Figure 3 This is a schematic diagram of the structure of the frame described in this invention; Figure 4 This is a schematic diagram of the exoskeleton mechanism described in this invention; Figure 5 This is a schematic diagram of the receiving cavity fixing clamp of the present invention; Figure 6 This is a schematic diagram of the gravity loading mechanism described in this invention; Figure 7 This is a schematic diagram of the structure of the prosthesis and simulated amputation limb assembly described in this invention; The components include: 1. Frame, 101. Mounting plate, 102. Bracket, 103. Base plate; 2. Exoskeleton mechanism, 201. Thigh plate, 202. Connecting lug, 203. Receiver cavity fixing clamp, 204. Bearing, 205. Lower leg rod, 206. Prosthetic fixing clamp, 207. Support rod, 208. U-shaped connector, 209. Servo cylinder, 210. Slide rail; 3. Gravity loading mechanism, 301. Handwheel, 302. Nut, 303. Lead screw, 304. Slider, 305. Slide seat, 306. Pressure sensor; 4. Prosthesis and simulated amputated limb, 401. Connecting plate, 402. Simulated amputated limb, 403. Prosthesis. Detailed Implementation

[0017] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0018] See Figures 1-7 The exoskeleton-based prosthetic adaptation device of the present invention includes: Rack 1; An exoskeleton mechanism 2 is mounted on the frame 1. The exoskeleton mechanism 2 includes a thigh, a lower leg that rotates and cooperates with the thigh, and a knee flexion drive unit that drives the lower leg to flex relative to the thigh. The prosthesis and simulated amputation 4 include at least a prosthesis 403 and a simulated amputation 402 whose lower end is disposed in the receiving cavity of the prosthesis 403. The simulated amputation 402 is disposed on the thigh, the receiving cavity of the prosthesis 403 is disposed on the thigh, and the lower leg of the prosthesis 403 is disposed on the lower leg. The prosthesis and simulated amputation 4 are driven to perform knee flexion movement by the exoskeleton mechanism 2. And a gravity loading mechanism 3, through which gravity is applied to the upper end of the simulated severed limb 402.

[0019] The rack 1 includes: Base plate 103; The bracket 102 is installed on the base plate 103; The upper part of the thigh of the exoskeleton mechanism 2 is fixedly connected to the mounting plate 101 and the mounting plate 101.

[0020] The frame 1 provides support for the entire device. The bottom is a base plate 103, on which a bracket 102 is welded. A mounting plate 101 is welded on the bracket 102. The mounting plate 101 provides an installation interface for the exoskeleton mechanism 2 and the gravity loading mechanism 3.

[0021] The thigh region includes: The upper end of the thigh plate 201 is fixedly connected to the mounting plate 101 of the frame 1; A receiving cavity fixing clamp 203 is provided on the side wall of the thigh plate 201 near the lower end; And a slide rail 210 is provided vertically on the side wall of the thigh plate 201, the slide rail 210 and the gravity loading mechanism 3 cooperate to guide it.

[0022] The slide rail 210 includes two parallel ones.

[0023] The lower leg includes: The upper end of the leg rod 205 is rotatably engaged with the lower end of the thigh plate 201 via a bearing 204; And a prosthesis fixing clamp 206 is provided on the side wall of the lower leg bar 205, which clamps and fixes the lower leg of the prosthesis 403.

[0024] The knee flexion drive unit includes: A servo cylinder 209 is connected to the thigh plate 201 on the thigh via a connecting lug 202, and the servo cylinder 209 and the thigh plate 201 are arranged in parallel. A U-shaped connector 208 is connected at one end to the output end of the servo cylinder 209; And a support rod 207, one end of which is hinged to the side wall of the lower leg rod 205 of the lower leg, and the other end is hinged to the other end of the U-shaped connector (208). The connection between the lower leg rod 205 and the support rod 207 is near the end that is connected to the thigh plate 201.

[0025] The exoskeleton mechanism 2 simulates the gait of the lower leg, driving the prosthesis 403 to simulate walking movements, and achieving the break-in between the socket of the prosthesis 403 and the simulated amputated limb 402. The exoskeleton mechanism 2 is mounted on the thigh plate 201, which is mounted on the mounting plate 101 of the frame 1. Two slide rails 210 mounted on the side of the thigh plate 201 provide guidance for the gravity loading mechanism 3. The support rod 207 mounted on the top of the lower leg rod 205 acts as a load-bearing component, transmitting the thrust of the servo cylinder 209 to the lower leg rod 205, causing it to rotate around the bearing 204, thus achieving knee flexion. The servo cylinder 209 is connected to the thigh plate 201 via the connecting lug 202, and the telescopic rod of the servo cylinder 209 is connected to the U-shaped connector 208. The U-shaped connector 208 pushes the support rod 207, causing the lower leg rod 205 to rotate. A receiving cavity fixing clamp 203 is installed on the side of the thigh plate 201 to keep the receiving cavity of the prosthesis 403 synchronized with the thigh plate 201. Two prosthesis fixing clamps 206 are installed on the side of the lower leg rod 205. The prosthesis fixing clamps 206 can be used to constrain the lower leg of the prosthesis 403 with the lower leg rod 205 of the exoskeleton mechanism 2 to keep them moving synchronously.

[0026] The prosthesis and the simulated amputated limb 4 also include a connecting plate 401 integrally disposed at the upper end of the simulated amputated limb 402, and the gravity loading mechanism 3 acts on the connecting plate 401.

[0027] The gravity loading mechanism 3 includes: Slide 305; A slider 304 is disposed on the side wall of the slide block 305, and the slider 304 slides in cooperation with the slide rail 210 of the thigh. Nuts 302 are fixedly installed on the mounting plate 101 of the frame 1; A lead screw 303 is arranged vertically, and the lead screw 303 and nut 302 form a lead screw 303 and nut 302 pair. The lower end of the lead screw 303 is connected to the slide block 305. And a handwheel 301 is provided at one end of the lead screw 303 that protrudes from the upper surface of the mounting plate 101.

[0028] The gravity loading mechanism 3 also includes a pressure sensor 306, which is disposed on the lower surface of the slide 305 in contact with the simulated severed limb 402.

[0029] The patient's body weight is a key factor in the wear and tear on the amputated limb and the socket. Therefore, the prosthesis 403 needs to be broken in according to the user's weight. This application uses a gravity loading mechanism 3 to apply force to the simulated amputated limb 402 to simulate gravity. A lead screw 303 and a nut 302 are installed on the mounting plate 101. A handwheel 301 is installed at the top of the lead screw 303, and the bottom of the lead screw 303 acts on the slide 305. The slide 305 cooperates with the slide rail 210 through a slider 304. A pressure sensor 306 is installed at the bottom of the slide 305. In this embodiment, the pressure sensor 306 is a spoke-type pressure sensor 306, MK2120B type, with a range of 0~100kg. By rotating the handwheel 301, the slide 305 can be pushed downward through the lead screw 303 and nut 302, applying a downward gravity load. The load value can be measured by the pressure sensor 306.

[0030] The contact surfaces of the simulated amputated limb 402 and the receiving cavity of the prosthesis 403 are coated with printing material to leave contact marks on the inner wall of the receiving cavity after break-in.

[0031] In this embodiment, the prosthesis 403 is the D01 type prosthesis 403 from the Changchun branch of Delin Prosthesis 403 Orthotics (Beijing) Co., Ltd. A simulated amputated limb 402 is obtained by silicone molding. A connecting plate 401 is installed on the top of the simulated amputated limb 402. The connecting plate 401 and the simulated amputated limb 402 are integrally formed during molding, requiring no mechanical connection. The connecting plate 401 can be connected to the pressure sensor 306. Red ink is applied to the surface of the simulated amputated limb 402, and then the simulated amputated limb 402 is inserted into the receiving cavity of the prosthesis 403, making the simulated amputated limb 402 and the prosthesis 403 a single unit.

Claims

1. An exoskeleton-based prosthetic device, characterized by, The application relates to a lower-limb exoskeleton mechanism, which comprises the following parts: a rack (1); an exoskeleton mechanism (2) arranged on the rack (1), wherein the exoskeleton mechanism (2) comprises a thigh part, a shank part rotatably connected with the thigh part, and a knee-bending driving part for driving the shank part to bend relative to the thigh part; a prosthetic limb and a simulated amputated limb (4), wherein the prosthetic limb and the simulated amputated limb (4) at least comprise a prosthetic limb (403) and a simulated amputated limb (402) arranged in a receiving cavity of the prosthetic limb (403), the simulated amputated limb (402) is arranged on the thigh part, the receiving cavity of the prosthetic limb (403) is arranged on the thigh part, the shank of the prosthetic limb (403) is arranged on the shank part, and the prosthetic limb and the simulated amputated limb (4) are driven to bend by the exoskeleton mechanism (2); and a gravity loading mechanism (3) for applying gravity to the upper end of the simulated amputated limb (402).

2. The exoskeleton-based prosthetic device of claim 1, wherein, The rack (1) comprises: a bottom plate (103); a support (102) arranged on the bottom plate (103); and a mounting plate (101) arranged on the upper end of the support (102), wherein the upper end of the thigh part of the exoskeleton mechanism (2) is fixedly connected with the mounting plate (101).

3. The exoskeleton-based prosthetic limb break-in device of claim 2, wherein, The thigh part comprises: a thigh plate (201) fixedly connected with the mounting plate (101) of the rack (1) at the upper end; a receiving cavity fixing clamp (203) arranged on the side wall of the thigh plate (201) close to the lower end; and a slide rail (210) arranged on the side wall of the thigh plate (201) in the vertical direction, wherein the slide rail (210) is guided by the gravity loading mechanism (3).

4. The exoskeleton-based prosthetic limb break-in device of claim 3, wherein, The slide rail (210) comprises two slide rails arranged in parallel.

5. The exoskeleton-based prosthetic break-in device of claim 3, wherein, The shank part comprises: a shank rod (205) rotatably connected with the lower end of the thigh plate (201) through a bearing (204) at the upper end; and a prosthetic limb fixing clamp (206) arranged on the side wall of the shank rod (205), wherein the shank of the prosthetic limb (403) is clamped and fixed by the prosthetic limb fixing clamp (206).

6. The exoskeleton-based prosthetic break-in device of claim 3, wherein, The knee-bending driving part comprises: a servo cylinder (209) connected with the thigh plate (201) of the thigh part through a connecting lug (202), wherein the servo cylinder (209) is arranged in parallel with the thigh plate (201); a U-shaped joint (208) connected with the output end of the servo cylinder (209) at one end; and a support rod (207) hingedly connected with the side wall of the shank rod (205) of the shank part at one end and hingedly connected with the other end of the U-shaped joint (208) at the other end.

7. The exoskeleton-based prosthetic break-in device of claim 1, wherein, The prosthetic limb and the simulated amputated limb (4) further comprise a connecting plate (401) integrally arranged on the upper end of the simulated amputated limb (402), wherein the gravity loading mechanism (3) acts on the connecting plate (401).

8. The exoskeleton-based prosthetic break-in device of claim 3, wherein, The gravity loading mechanism (3) comprises: a slide base (305); a slide block (304) arranged on the side wall of the slide base (305), wherein the slide block (304) is slidably connected with the slide rail (210) of the thigh part; a nut (302) fixedly arranged on the mounting plate (101) of the rack (1). A screw rod (303) arranged in vertical direction, the screw rod (303) and a nut (302) form a screw rod (303) nut (302) pair, the lower end of the screw rod (303) is connected with the sliding seat (305); And a hand wheel (301) arranged at one end of the upper end surface of the installation plate (101) through which the screw rod (303) passes.

9. The exoskeleton-based prosthetic limb break-in device of claim 8, wherein, The gravity loading mechanism (3) further comprises a pressure sensor (306) arranged at the contact part of the lower surface of the sliding seat (305) and the simulated amputated limb (402).

10. The exoskeleton-based prosthetic break-in device of claim 1, wherein, The contact surface of the simulated amputated limb (402) and the receiving cavity of the artificial limb (403) is coated with printing material.

Images