Ankle joint movement rehabilitation training device and operation method thereof

Abstract

The invention discloses an ankle joint movement rehabilitation training device and an operation method thereof, and relates to the technical field of auxiliary medical instruments, the device comprises a bottom plate, an ankle joint flexion and extension assembly, a rear limiting mechanism, a controller and a foot fixing assembly; the ankle joint flexion and extension assembly comprises a foot placing disc capable of rotating by-30 degrees to 40 degrees, a hot compress physical therapy heating pad, a film pressure sensor and a driving motor, the rear limiting mechanism limits the maximum rotating angle, and the controller is electrically connected with all the components to achieve accurate control. The operation method comprises the steps of equipment preparation, patient adaptation, parameter setting, training operation and maintenance ending. The device is accurate in angle control, perfect in safety protection, compact in structure and low in cost, has a hot compress physical therapy function, can adapt to family and community rehabilitation scenes, can meet the full-period requirements of ankle joint rehabilitation, effectively improves the rehabilitation effect and reduces the training risk.

Description

Technical Field

[0001] This invention relates to the field of assistive medical device technology, specifically to an ankle joint mobility rehabilitation training device and its operating method. Background Technology

[0002] As a core joint for weight-bearing and movement in the human body, the incidence of ankle injury is rising year by year. In my country, more than 1.2 million new cases of ankle dysfunction are diagnosed each year, and among patients who do not receive standardized rehabilitation treatment within 6 weeks after surgery, 43% will suffer from long-term limited mobility, directly leading to a decline in work capacity and an increased medical burden.

[0003] The current field of ankle rehabilitation faces several technical challenges: First, there is a significant conflict between equipment price and accessibility. Traditional manual rehabilitation relies on therapist manipulation, resulting in high labor costs and an inability to quantify training parameters. Second, the technology has limitations. Existing equipment lacks sufficient precision in angle control, easily leading to overstretching or undertraining. Research from the American Academy of Orthopaedic Surgeons (AAOS) has confirmed that an angle deviation exceeding 2° can reduce ligament healing efficiency by 18%. Furthermore, the lack of personalized programs covering the entire rehabilitation cycle makes it difficult to meet the core clinical needs for early intervention, progressive load control, and data-driven assessment.

[0004] Furthermore, the 2-6 weeks post-surgery period is the golden window for preventing joint adhesions and muscle atrophy. However, traditional plaster cast immobilization restricts range of motion, necessitating controlled passive movement to promote synovial fluid circulation. In the later stages of rehabilitation, a gradual transition from passive to active resistance training is required, with a torque adjustment range covering 0-30 Nm to adapt to muscle strength reconstruction needs. Existing devices often cannot achieve this dynamic adaptation. Against this backdrop, developing a cost-effective, precisely controlled ankle rehabilitation training device suitable for home and community settings has become an urgent need to address clinical challenges. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of the embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] Therefore, the purpose of this invention is to provide an ankle joint mobility rehabilitation training device and its operating method to solve the problems mentioned in the background art.

[0007] To address the aforementioned technical problems, according to one aspect of the present invention, the present invention provides the following technical solution: An ankle joint mobility rehabilitation training device, comprising: Base plate; An ankle flexion and extension assembly includes a foot plate hinged to the middle of the base plate and rotatable relative to the base plate within a range of -30° to 40°, a heat therapy pad disposed on the foot plate, a thin film pressure sensor located between the foot plate and the heat therapy pad, and a drive motor for driving the foot plate to rotate. A rear limiting mechanism is provided on the base plate and located behind the ankle flexion-extension assembly to limit the maximum rotation angle of the ankle flexion-extension assembly. The controller is electrically connected to the hot compress therapy heating pad, the thin film pressure sensor, and the drive motor, respectively, and is used to control the heating temperature and frequency of the hot compress therapy heating pad and to control the emergency stop of the drive motor according to whether the pressure delivered by the thin film pressure sensor reaches a preset range.

[0008] In a preferred embodiment of the ankle joint rehabilitation training device of the present invention, a first hinge seat is symmetrically arranged near the center of the base plate, and a shaft inserted into the first hinge seat is arranged on the side of the foot plate.

[0009] In a preferred embodiment of the ankle joint mobility rehabilitation training device of the present invention, the drive motor is mounted on the first hinge seat and its output end is connected to the shaft. The drive motor is a motor with a reducer.

[0010] As a preferred embodiment of the ankle joint mobility rehabilitation training device of the present invention, the base plate is provided with a second hinge seat, and multiple slots are equally spaced behind the second hinge seat on the base plate. The rear limiting mechanism includes a limiting plate hinged to the second hinge seat and a telescopic rod with one end hinged to the limiting plate, the other end of the telescopic rod being inserted into one of the slots.

[0011] As a preferred embodiment of the ankle joint mobility rehabilitation training device of the present invention, the thin-film pressure sensor comprises, from top to bottom, an adhesive, polyethylene terephthalate, carbon paste, a pad, a tail, and a silver conductor.

[0012] As a preferred embodiment of the ankle joint mobility rehabilitation training device of the present invention, it further includes a foot fixation component disposed on the base plate in front of the ankle joint flexion and extension component, the foot fixation component including fixation blocks arranged at equal intervals and fixation rods connecting the plurality of fixation blocks.

[0013] The operation method of an ankle joint mobility rehabilitation training device includes the following steps: S1. According to the patient's needs in the recovery stage, adjust the rear limit mechanism, pull the telescopic rod out of the current slot, rotate the limit plate to the target angle position, insert the telescopic rod into the corresponding slot and fix it, ensure that the rotation range of the foot plate does not exceed the safety threshold, connect the device power supply, start the self-test program through the controller, and confirm that the forward and reverse rotation function of the drive motor is normal, the signal transmission of the membrane pressure sensor is stable, and the hot compress therapy heating pad can heat up normally. S2. The patient places their foot on the hot compress therapy heating pad of the foot placement plate, adjusts the position of the foot so that the ankle joint is aligned with the rotation axis of the foot placement plate, uses the foot fixation component fixing block to fit the sole of the foot and both sides of the lower leg, and locks it with the fixing rod to ensure that the foot does not slip during the training process, while avoiding excessive fixation that may affect blood circulation; medical staff or patients set the safe pressure threshold of the membrane pressure sensor through the controller; S3. Select the temperature level and working frequency of the hot compress therapy heating pad through the controller, adjust the temperature according to the patient's tolerance, preset the rotation mode and parameters of the foot plate through the controller, and select three fixed angle modes, speed and single training duration. S4. Start the training program via the controller. The hot compress therapy heating pad is preheated to the set temperature and kept constant. Then, the drive motor drives the foot plate to rotate back and forth according to the preset parameters to achieve passive flexion and extension training of the ankle joint. During the training, the thin film pressure sensor continuously collects foot pressure signals and transmits them to the controller. When the pressure exceeds the preset safety threshold, the controller immediately controls the drive motor to stop. If the mode needs to be adjusted during training, you can switch to manual mode via the controller and control the foot plate to rotate forward and backward once by pressing the button, or switch to custom mode to set personalized forward and reverse rotation time parameters. S5. After the preset training time is reached, the device will automatically stop the drive motor. The hot compress therapy heating pad will maintain a constant temperature for 5 minutes and then automatically turn off the power to avoid sudden coldness and discomfort to the patient's feet. Loosen the fixing rod, remove the fixing block, and assist the patient to slowly move their feet away. Observe the ankle joint movement and the condition of the foot skin. Turn off the device power and record the training parameters for efficacy evaluation and subsequent training program adjustment. Finally, clean the foot plate and the surface of the hot compress therapy heating pad.

[0014] Compared with the prior art, the beneficial effects of the present invention are: By using a drive motor with a speed reducer and a controller, the foot plate can rotate precisely within the range of -30° to 40°, effectively avoiding the problems of overstretching or undertraining caused by insufficient angle control precision of traditional equipment, thus meeting the clinical precision needs of ankle joint rehabilitation; it can adapt to movement speeds of 5 / s to 15 / s, meeting the full cycle needs from slow small-angle activities in the acute phase to large-angle training in the recovery phase.

[0015] The thin-film pressure sensor monitors foot pressure in real time. When the pressure exceeds the preset threshold, it immediately triggers the drive motor to stop. Combined with the mechanical limit design of the rear limit mechanism, this double protection prevents the joint from moving beyond its range of motion. The multi-level temperature control function of the hot compress therapy heating pad can accurately adapt to the patient's tolerance, avoiding discomfort caused by excessively high or low temperatures. At the same time, it promotes local blood circulation and helps improve the rehabilitation effect. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a schematic diagram of the overall structure of an ankle joint mobility rehabilitation training device according to the present invention; Figure 2 This is a partial structural schematic diagram of an ankle joint mobility rehabilitation training device according to the present invention; Figure 3 This is an exploded view of the thin-film pressure sensor of an ankle joint rehabilitation training device according to the present invention. Detailed Implementation

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0018] Figures 1-3 The diagram shown is a structural schematic of an ankle joint mobility rehabilitation training device according to the present invention. Please refer to [link / reference]. Figures 1-3 The ankle joint mobility rehabilitation training device of this embodiment includes a base plate 100, an ankle joint flexion and extension component 200, a rear limiting mechanism 300, and a controller 400.

[0019] The base plate 100 is used to support the legs and serves as the mounting base. It integrates the ankle joint flexion and extension component 200 and the rear limiting mechanism 300 to simulate the up and down movement of the foot and realize the dorsiflexion / plantar flexion rehabilitation training of the ankle joint. The base plate 100 is symmetrically provided with a first hinge seat 110, a second hinge seat 120 and multiple slots 130 near the middle.

[0020] Ankle flexion-extension assembly 200 is used to realize dorsiflexion / plantar flexion rehabilitation exercises of the ankle joint. Specifically, the ankle flexion-extension assembly 200 includes a foot plate 210 hinged to the middle of the base plate 100 and rotatable relative to the base plate 100 within a range of -30° to 40°, a heat therapy pad 220 disposed on the foot plate 210, a thin film pressure sensor 230 located between the foot plate 210 and the heat therapy pad 220, and a drive motor 240 for driving the foot plate 210 to rotate. The foot plate 210 has a shaft 210a inserted into a first hinge seat 110 on its side. The drive motor 240 is mounted on the first hinge seat 110, and its output end is connected to the shaft 210a. The drive motor 240 is a motor with a reducer. When the rehabilitation patient fixes their foot on the foot plate 210... At this time, the drive motor 240 can drive the foot plate 210 to complete the dorsiflexion and toe lifting and plantarflexion and toe pressing movements of the ankle joint at a stable rate through precise torque output. The whole movement process is smooth and without any sense of interruption. It can provide continuous and uniform power assistance to help the rehabilitation patient complete the standardized rehabilitation movements. The thin film pressure sensor 230 includes, from top to bottom, an adhesive 230a, polyethylene terephthalate 230b, carbon paste 230c, a pad 230d, a tail 230e, and a silver conductor 230f. When the thin film pressure sensor 230 is pressed, the resistance of the carbon paste 230c changes. The controller 400 measures the resistance of the thin film pressure sensor 230 to obtain the pressure. When the pressure exceeds the preset safety threshold, the controller 400 immediately controls the drive motor 240 to stop.

[0021] The rear limiting mechanism 300 is disposed on the base plate 100 and located behind the ankle flexion and extension assembly 200, and is used to limit the maximum rotation angle of the ankle flexion and extension assembly 200. The base plate 100 is provided with a second hinge seat 120, and multiple slots 130 are equally spaced on the base plate 100 behind the second hinge seat 120. The rear limiting mechanism 300 includes a limiting plate 310 hinged to the second hinge seat 120 and a telescopic rod 330 with one end hinged to the limiting plate 310. The other end of the telescopic rod 330 is inserted into one of the slots 130.

[0022] The controller 400 is electrically connected to the hot compress therapy heating pad 220, the thin film pressure sensor 230 and the drive motor 240 respectively, and is used to control the heating temperature and frequency of the hot compress therapy heating pad 220 and to control the drive motor 240 to stop suddenly according to whether the pressure delivered by the thin film pressure sensor 230 reaches the preset range.

[0023] Preferably, in this embodiment, a foot fixation component 500 is also provided on the base plate 100 in front of the ankle joint flexion and extension component 200. The foot fixation component 500 includes fixation blocks 510 arranged at equal intervals and fixation rods 520 connecting multiple fixation blocks 510, for fixing the patient's foot and both sides of the lower leg.

[0024] Combination Figures 1-3 The specific operating steps of the ankle joint mobility rehabilitation training device of this embodiment are as follows: S1. According to the patient's needs in the recovery stage, adjust the rear limit mechanism 300, pull the telescopic rod 330 out of the current slot 130, rotate the limit plate 310 to the target angle position, insert the telescopic rod 330 into the corresponding slot 130 and fix it, ensure that the rotation range of the foot plate 210 does not exceed the safety threshold, connect the device power supply, start the self-test program through the controller 400 to confirm that the forward and reverse rotation function of the drive motor 240 is normal, the signal transmission of the membrane pressure sensor 230 is stable, and the hot compress physiotherapy heating pad 220 can heat up normally; S2. The patient places their foot on the hot compress therapy heating pad 220 of the foot placement plate 210, adjusts the foot position so that the ankle joint is aligned with the rotation axis of the foot placement plate 210, uses the foot fixation component 500 fixing block 510 to fit the sole of the foot and both sides of the lower leg, and locks it with the fixing rod 520 to ensure that the foot does not slip during the training process, while avoiding excessive fixation that may affect blood circulation; medical staff or patients set the safe pressure threshold of the membrane pressure sensor 230 through the controller 400; S3. Select the temperature setting and working frequency of the hot compress therapy heating pad 220 through the controller 400, adjust the temperature according to the patient's tolerance, preset the rotation mode and parameters of the foot plate 210 through the controller 400, and select three fixed angle modes, speed and single training duration. S4. The training program is started via controller 400. The hot compress therapy heating pad 220 is preheated to the set temperature and kept constant. Then, the drive motor 240 drives the foot plate 210 to rotate back and forth according to preset parameters to achieve passive flexion and extension training of the ankle joint. During the training, the thin film pressure sensor 230 continuously collects foot pressure signals and transmits them to controller 400. When the pressure exceeds the preset safety threshold, controller 400 immediately controls drive motor 240 to stop. If the mode needs to be adjusted during training, it can be switched to manual mode via controller 400. The foot plate 210 can be controlled to rotate forward and backward once by pressing the button, or it can be switched to custom mode to set personalized forward and backward rotation time parameters. S5. After the preset training time is reached, the device automatically stops the drive motor 240. The hot compress therapy heating pad 220 maintains a constant temperature for 5 minutes and then automatically cuts off the power to avoid sudden coldness and discomfort to the patient's feet. Loosen the fixing rod 520, remove the fixing block 510, assist the patient to slowly move their feet, observe the ankle joint movement and the condition of the foot skin, turn off the device power, record the training parameters for efficacy evaluation and subsequent training program adjustment, and finally clean the foot plate 210 and the surface of the hot compress therapy heating pad 220.

[0025] Although the present invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, as long as there is no structural conflict, the features in the disclosed embodiments can be combined with each other in any manner. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An ankle joint movement rehabilitation training device, characterized in that, It comprises: a bottom plate (100); an ankle flexion and extension assembly (200) comprising a foot plate (210) hinged to a position in the middle of the bottom plate (100) and rotatable relative to the bottom plate (100) within a range of -30°-40°, a hot compress and physiotherapy heating pad (220) arranged on the foot plate (210), a thin film pressure sensor (230) located between the foot plate (210) and the hot compress and physiotherapy heating pad (220), and a drive motor (240) driving the rotation of the foot plate (210); a rear limiting mechanism (300) arranged on the bottom plate (100) and located behind the ankle flexion and extension assembly (200) for limiting the maximum rotation angle of the ankle flexion and extension assembly (200); a controller (400) electrically connected with the hot compress and physiotherapy heating pad (220), the thin film pressure sensor (230) and the drive motor (240) respectively for controlling the heating temperature and frequency of the hot compress and physiotherapy heating pad (220) and controlling the drive motor (240) to stop urgently according to whether the pressure delivered by the thin film pressure sensor (230) reaches a preset range.

2. The ankle joint movement rehabilitation training device according to claim 1, characterized in that, The bottom plate (100) is symmetrically provided with a first hinge seat (110) near the middle position, and the side edge of the foot plate (210) is provided with a shaft rod (210a) inserted into the first hinge seat (110).

3. The ankle joint movement rehabilitation training device according to claim 2, characterized in that, The drive motor (240) is installed on the first hinge seat (110) and the output end is connected with the shaft rod (210a), and the drive motor (240) is a motor with a speed reducer.

4. The ankle rehabilitation training device according to claim 1, wherein, The bottom plate (100) is provided with a second hinge seat (120), and a plurality of clamping grooves (130) are arranged on the bottom plate (100) equidistantly behind the second hinge seat (120). The rear limiting mechanism (300) comprises a limiting plate (310) hinged with the second hinge seat (120) and an extension rod (330) having one end hinged with the limiting plate (310), and the other end of the extension rod (330) is inserted into one of the clamping grooves (130).

5. The ankle rehabilitation training device according to claim 1, wherein, The thin film pressure sensor (230) comprises, in sequence from top to bottom, an adhesive (230a), a polyethylene terephthalate (230b), a carbon slurry (230c), a gasket (230d), a tail (230e) and a silver conductor (230f).

6. The ankle rehabilitation training device according to claim 1, wherein It further comprises a foot fixing assembly (500) arranged on the bottom plate (100) in front of the ankle flexion and extension assembly (200), and the foot fixing assembly (500) comprises equidistantly arranged fixing blocks (510) and a fixing rod (520) connecting the fixing blocks (510).

7. A method of operating an ankle rehabilitation device as claimed in any one of claims 1 to 6, wherein, The steps are as follows: S1, according to the needs of the patient rehabilitation stage, adjust the rear limiting mechanism (300), pull out the telescopic rod (330) from the current card slot (130), rotate the limiting plate (310) to the target angle position, then insert the telescopic rod (330) into the corresponding card slot (130) to fix, ensure that the foot plate (210) rotation range does not exceed the safety threshold, connect the device power supply, start the self-checking program through the controller (400), confirm that the drive motor (240) normal function, film pressure sensor (230) signal transmission stability, hot compress therapy heating pad (220) can normal temperature rise; S2, the patient will put the foot on the hot compress therapy heating pad (220) of the foot plate (210), adjust the foot position, make the ankle joint align with the rotation axis of the foot plate (210), use the foot fixing assembly (500) fixed block (510) to stick to the foot and the two sides of the lower leg, lock through the fixed rod (520), ensure that there is no sliding of the foot during training, while avoiding the influence of blood circulation caused by too tight fixation; The medical staff or patient sets the safety pressure threshold of the film pressure sensor (230) through the controller (400); S3, select the temperature gear and working frequency of the hot compress therapy heating pad (220) through the controller (400), adjust the temperature according to the patient's tolerance, pre-set the rotation mode and parameters of the foot plate (210) through the controller (400), select three fixed angle modes, speed and single training time; S4, start the training program through the controller (400), the hot compress therapy heating pad (220) is preheated to the set temperature and keeps constant, then the drive motor (240) drives the foot plate (210) to reciprocating rotation according to the pre-set parameters, realizes the passive flexion and extension training of the ankle joint, during the training process, the film pressure sensor (230) continuously collects the foot pressure signal and transmits it to the controller (400), when the pressure exceeds the pre-set safety threshold, the controller (400) immediately controls the drive motor (240) to stop; If the mode needs to be adjusted during training, you can switch to manual mode through the controller (400), control the foot plate (210) single positive and negative rotation through the button, or switch to the self-defined mode to set the individual positive and negative rotation time parameters; S5, after reaching the pre-set training time, the device automatically stops the drive motor (240) running, the hot compress therapy heating pad (220) keeps constant temperature for 5 minutes and automatically powers off, to avoid the patient's foot sudden cold discomfort, loosen the fixed rod (520), remove the fixed block (510), help the patient slowly move away the foot, observe the ankle joint activity and foot skin state, turn off the device power supply, record this training parameters for efficacy evaluation and subsequent training scheme adjustment, finally clean the surface of the foot plate (210) and the hot compress therapy heating pad (220).

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