A lower limb rehabilitation orthosis for hemiplegia

Abstract

The application discloses a hemiplegia lower limb rehabilitation orthosis and relates to the field of medical instruments.The hemiplegia lower limb rehabilitation orthosis comprises a base, guiding grooves are symmetrically formed in the inner wall of the base, supporting columns are fixedly arranged on the two sides of the base, a movable assembly is assembled to the inner wall of the guiding grooves, and the movable assembly comprises a fixed rod and a fixed plate used for simulating walking support.The end of the fixed rod is fixedly connected with the lower end of the fixed plate, and the bottom end is elastically lifted when touching the ground, so that the ground reaction force in a real walking scene is simulated.The hemiplegia lower limb rehabilitation orthosis can simulate gait changes in real walking in the correction training process, and the ground reaction force in the real walking scene is restored by cooperating with the elastic lifting structure, so that the rehabilitation training of the patient is closer to the real walking state, and the training effect is improved.

Description

Technical Field

[0001] This invention relates to medical device technology, specifically to a rehabilitation orthotic device for hemiplegic lower limbs. Background Technology

[0002] Hemiplegia is one of the most common sequelae following central nervous system injuries such as stroke and traumatic brain injury. Patients often present with unilateral lower limb motor dysfunction, with typical symptoms including foot drop, foot inversion, knee hyperextension, and gait asymmetry. The ankle joint, as a crucial link in weight-bearing and propulsion during walking, directly leads to reduced walking speed, increased energy consumption, and an increased risk of falls due to its dysfunction. Therefore, ankle rehabilitation is a core aspect of restoring independent walking ability for hemiplegic patients.

[0003] Chinese patent CN200820173307.1 discloses a rehabilitation orthosis for hemiplegic lower limbs. This orthosis can maintain the patient's lower limbs in a functional position for extended periods, allowing for hip and knee flexion with adjustable angles, and an ankle joint at 90 degrees. It prevents limb external rotation and foot drop, while also providing joint exercise, saving manpower, and has practical significance for limb rehabilitation and correction. It plays a crucial role in maintaining a functional position for patients with acute lower limb paralysis, laying the foundation for further rehabilitation, and is of great importance in correcting hemiplegic gait and improving quality of life.

[0004] When using existing devices, most of them adopt passive fixation or preset trajectory assistance modes, which generally have the problem of separation between detection and control: they cannot actively correct according to the real-time status of the patient's ankle joint during walking, nor can they adjust the support force in real time according to the actual needs of walking; at the same time, the foot mechanism of existing devices only has support or simple cushioning functions, and cannot simulate the real ground reaction force environment. Therefore, it is also impossible to apply the corresponding active auxiliary torque according to the real-time flexion and extension angle deviation of the ankle joint. Therefore, a rehabilitation orthosis for hemiplegic lower limbs was developed. Summary of the Invention

[0005] The purpose of this invention is to provide a rehabilitation orthotic device for hemiplegic lower limbs to address the aforementioned shortcomings in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a rehabilitation orthotic device for hemiplegic lower limbs, comprising a base, wherein guide grooves are symmetrically provided on the inner wall of the base, and support columns are fixedly provided on both sides of the base;

[0007] An active component, which is assembled on the inner wall of the guide groove, includes a fixed rod and a fixed plate for simulating walking support;

[0008] The end of the fixed rod is fixedly connected to the lower end of the fixed plate, and elastically lifts the bottom end when it touches the ground to simulate the ground reaction force in a real walking scenario.

[0009] An adjustment assembly, which is mounted on the upper end of the fixed plate, includes a support plate and a tension rod for supporting and locking the ankle;

[0010] The end of the support plate is slidably connected to the end of the tension rod. The support plate supports the front and rear force points of the foot and applies an auxiliary torque to the ankle to simulate and correct walking based on the deviation between the real-time detected flexion and extension angle and the preset target angle range.

[0011] As a further optimization of the present invention, the movable component further includes a snap-fit ​​block that is slidably connected to the inner wall of the guide groove, and a base plate is fixedly provided at the end of the snap-fit ​​block;

[0012] A fixing column is fixedly provided at the end of the base plate, and a drive disk is rotatably provided at the end of the fixing column;

[0013] As a further optimization of the present invention, the drive disk is rotatably connected to drive rod one and drive rod two near the edge, and the cross sections of drive rod one and drive rod two are staggered.

[0014] The end of the first drive rod is rotatably connected to a movable plate, the end of which has a triangular cross-section, and the end of the second drive rod is rotatably connected to the other corner of the triangular end.

[0015] As a further optimization of the present invention, a connecting block is fixedly provided at the end of the base plate, a connecting rod is rotatably provided at the end of the connecting block, an extension rod is rotatably provided on the outer surface of the connecting rod, and the end of the extension rod is rotatably connected to the end of the fixed rod.

[0016] As a further optimization of the present invention, the end of the connecting rod is rotatably connected to one side of the movable plate, and the end of the movable plate is rotatably connected to the outer surface of the fixed rod.

[0017] As a further optimization of the present invention, the adjustment assembly further includes a locking plate that engages with the fixing plate, and protective plates are symmetrically fixedly provided at the ends of the locking plates, and a positioning shaft is fixedly provided between the two protective plates.

[0018] As a further optimization of the present invention, a positioning ring is slidably provided on the outer surface of the positioning shaft, and an adjusting block is snapped onto the outer surface of the positioning ring, with an adjusting groove provided at the end of the adjusting block.

[0019] As a further optimization of the present invention, a moving block is slidably fitted into the inner wall of the adjusting groove, a limiting block is fixedly provided at the end of the moving block, the end of the limiting block is engaged with the lower end of the tray, and a limiting groove is provided at the end of the limiting block.

[0020] As a further optimization of the present invention, a sphere is rotatably provided on the inner wall of the limiting groove, a connecting groove is provided through the outer surface of the sphere, and an adjusting rod is slidably provided on the inner wall of the connecting groove.

[0021] As a further optimization of the present invention, a protective groove is provided at the end of the protective plate, and the inner wall of the protective groove is slidably connected to the outer surface of the adjusting rod.

[0022] Compared with the prior art, the rehabilitation orthosis for hemiplegic lower limbs provided by the present invention has the following beneficial effects:

[0023] The active components can simulate gait changes during real walking during corrective training. At the same time, the elastic support structure can reproduce the ground reaction force in real walking scenarios, making the patient's rehabilitation training closer to the real walking state and improving the training effect.

[0024] The adjustable components can automatically adjust the support angle and support torque of the support plate according to the deviation between the patient's real-time ankle flexion and extension angle and the preset target angle range. It can apply a matching auxiliary corrective force to the ankle in a targeted manner, which can not only provide stable support for the front and back force points of the foot, but also complete dynamic active correction. This solves the problems of separation of detection and control and inability to adjust in real time in existing equipment. It can adapt to the training needs of different patients at different rehabilitation stages and improve the adaptability and training effect of rehabilitation correction.

[0025] Through the synergistic effect of the active and adjustment components, dynamic active ankle correction can be achieved under the premise of simulating real walking gait and ground force environment. This ensures the authenticity of the training scenario and enables real-time targeted correction, effectively improving the efficiency and quality of lower limb rehabilitation training for hemiplegic patients and helping them recover normal walking ability more quickly. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0027] Figure 1 This is a schematic diagram of the overall structure provided for an embodiment of the present invention;

[0028] Figure 2 This is an overall structural cross-sectional view provided for an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the active component structure provided in an embodiment of the present invention;

[0030] Figure 4 An exploded view of the active component structure provided in an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the adjustment component structure provided in an embodiment of the present invention;

[0032] Figure 6 This is a first exploded view of the adjustment component structure provided in an embodiment of the present invention;

[0033] Figure 7 This is a second exploded view of the adjustment component structure provided in an embodiment of the present invention.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1. Base; 2. Movable component; 3. Adjusting component; 11. Guide groove; 12. Support column; 21. Base plate; 211. Snap-fit ​​block; 22. Fixed column; 23. Drive plate; 231. Drive rod one; 232. Drive rod two; 24. Movable plate; 25. Connecting block; 251. Connecting rod; 26. Extension rod; 27. Fixed rod; 28. Fixed plate; 31. Locking plate; 32. Protective plate; 321. Protective groove; 33. Positioning shaft; 331. Positioning ring; 34. Adjusting block; 341. Adjusting groove; 35. Moving block; 36. Limiting block; 361. Limiting groove; 37. Ball; 371. Adjusting rod; 38. Support plate; 381. Tension rod. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0037] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0038] Example: Please refer to Figure 1 - Figure 7 A rehabilitation orthotic device for hemiplegic lower limbs includes a base 1, with guide grooves 11 symmetrically opened on the inner wall of the base 1, and support columns 12 fixedly installed on both sides of the base 1.

[0039] In this design, the guide groove 11 is opened on the inner wall of the base 1 to limit and guide the overall movement direction of the moving component 2, ensuring that its movement trajectory conforms to the swinging law of real walking during the walking simulation. The support columns 12 fixedly installed on both sides provide stable support for the whole device, preventing the device from shaking or shifting during training.

[0040] Furthermore, the active component 2, which is assembled on the inner wall of the guide groove 11, includes a fixed rod 27 and a fixed plate 28 for simulating walking support; the end of the fixed rod 27 is fixedly connected to the lower end of the fixed plate 28, and elastically lifts the bottom end when it touches the ground to simulate the ground reaction force in a real walking scenario.

[0041] In this embodiment, a locking member is snapped onto the outer surface of the fixing plate 28 to fix the instep and ankle, allowing the patient's lower limbs to complete the swing and support gait cycle with the device as a whole. An elastic support component is pre-installed inside the fixing rod 27. When the gait enters the support phase, the fixing rod 27 is compressed by the elastic component to generate a buffer reaction force, thereby simulating the reaction force of the ground on the lower limbs when walking in real life, allowing the patient to obtain a training feeling close to natural walking, and improving the realism and adaptability of rehabilitation training.

[0042] Furthermore, the active component 2 also includes a snap-fit ​​block 211 that is slidably connected to the inner wall of the guide groove 11. A base plate 21 is fixedly provided at the end of the snap-fit ​​block 211. A fixing post 22 is fixedly provided at the end of the base plate 21. A drive disk 23 is rotatably provided at the end of the fixing post 22.

[0043] Specifically, the locking block 211 slides along the inner wall of the guide groove 11, which can drive the base plate 21 to move back and forth along a preset path, thereby matching the overall forward and backward displacement pattern of the lower limbs during walking.

[0044] The fixed column 22 provides rotational support for the drive disk 23, which rotates at a constant speed under the drive of the drive component, thereby providing power output for gait cycle. The drive component is a device with power output such as a motor, and is connected to an external control device.

[0045] Furthermore, drive rod 1 231 and drive rod 232 are rotatably connected near the edge of drive disc 23, and the cross-sections of drive rod 1 231 and drive rod 232 are staggered; a movable plate 24 is rotatably connected to the end of drive rod 1 231, the end of movable plate 24 has a triangular cross-section, and the end of drive rod 232 is rotatably connected to the other corner of the end of the triangle.

[0046] Specifically, when the drive disc 23 rotates, it drives the drive rod 231 and the drive rod 232 to move synchronously. Since the ends of the two rods are hinged at different corners of the triangular end of the movable plate 24, the movable plate 24 will be moved and produce an angle deflection that adapts to the gait, thereby simulating the natural flexion and extension movements of the hip and knee joints of the lower limbs during walking and restoring the pattern of lower limb posture changes during natural walking.

[0047] Furthermore, a connecting block 25 is fixedly provided at the end of the base plate 21, a connecting rod 251 is rotatably provided at the end of the connecting block 25, an extension rod 26 is rotatably provided on the outer surface of the connecting rod 251, and the end of the extension rod 26 is rotatably connected to the end of the fixed rod 27.

[0048] Specifically, the connecting block 25 provides rotational support for the connecting rod 251. When the movable plate 24 deflects, it will drive the connecting rod 251 to rotate around the end of the connecting block 25. In turn, the connecting rod 251 drives the extension rod 26 to move. The extension rod 26 pushes and pulls the fixed rod 27, and the overall displacement completes the posture switching between the support phase and the swing phase, making the gait restoration closer to the real state.

[0049] Furthermore, the end of the connecting rod 251 is rotatably connected to one side of the movable plate 24, and the end of the movable plate 24 is rotatably connected to the outer surface of the fixed rod 27.

[0050] Specifically, the movement of the movable plate 24 directly and synchronously drives the connecting rod 251, forming a continuous transmission chain. This transforms the rotation of the drive disc 23 into a continuous movement of the lower limbs simulating walking, ensuring that the movement of each stage of the gait cycle is connected naturally and smoothly, without any jamming or disjointed movement.

[0051] Furthermore, the adjustment component 3, which is mounted on the upper end of the fixed plate 28, includes a support plate 38 and a tension rod 381 for supporting and locking the ankle; the end of the support plate 38 is slidably connected to the end of the tension rod 381, and the support plate 38 supports the front and rear force points of the foot, and applies an auxiliary torque to the ankle to perform walking simulation correction based on the deviation between the real-time detected flexion and extension angle and the preset target angle range.

[0052] In this embodiment, the support plate 38 is divided into two support sections, front and rear, corresponding to the two force points at the calcaneus and metatarsals of the sole of the foot, respectively, which can provide uniform and stable support for the entire sole of the foot. At the same time, the built-in angle sensor will collect the current flexion and extension angle data of the ankle joint in real time. After transmitting the data to the external control device, the control device compares the real-time angle with the preset rehabilitation target angle range.

[0053] Furthermore, the adjustment assembly 3 also includes a locking plate 31 that engages with the fixing plate 28. Protective plates 32 are symmetrically fixed at the ends of the locking plate 31, and a positioning shaft 33 is fixedly disposed between the two protective plates 32.

[0054] Specifically, the locking plate 31 has bolts or other fastening components at its end for fixing the locking plate 31 to the fixing plate 28. Meanwhile, the protective plate 32 has an L-shaped cross-section and an electric telescopic rod or other telescopic components in its inner cavity for driving the end of the protective plate 32 to move back and forth.

[0055] Furthermore, a positioning ring 331 is slidably provided on the outer surface of the positioning shaft 33, and an adjusting block 34 is snapped onto the outer surface of the positioning ring 331, with an adjusting groove 341 at the end of the adjusting block 34.

[0056] Specifically, the positioning shaft 33 acts as a sliding limiter for the positioning ring 331, allowing the positioning ring 331 to move axially along the positioning shaft 33. This adjusts the lateral position of the adjustment block 34 according to the specific dimensions of the patient's lower limb, adapting to the ankle installation needs of patients with different body types and expanding the device's fit range. A locking structure is also provided between the positioning ring 331 and the positioning shaft 33, allowing for quick locking of the position after adjustment, preventing accidental displacement of the positioning ring 331 during training and ensuring the corrective effect.

[0057] Furthermore, a moving block 35 is slidably fitted into the inner wall of the adjusting groove 341, and a limiting block 36 is fixedly provided at the end of the moving block 35. The end of the limiting block 36 is engaged with the lower end of the support plate 38, and a limiting groove 361 is provided at the end of the limiting block 36.

[0058] Specifically, the adjustment groove 341 provides a vertical sliding limit for the moving block 35. The moving block 35 can move along the inner wall of the adjustment groove 341, thereby driving the limiting block 36 to adjust its horizontal position synchronously, thereby changing the distance between the two support plates 38 to adapt to the usage needs of patients with different foot lengths, so that the support plate 38 can always accurately correspond to the core force point of the sole of the foot, ensuring that the application position of the support and corrective torque is accurate and effective.

[0059] Furthermore, a sphere 37 is rotatably provided on the inner wall of the limiting groove 361, and a connecting groove is provided through the outer surface of the sphere 37, and an adjusting rod 371 is slidably provided on the inner wall of the connecting groove.

[0060] Specifically, the ball 37 can rotate freely inside the limiting groove 361, thereby driving the adjusting rod 371 to complete multi-directional angle fine adjustment, adapting to the adjustment needs of different arch heights and different ankle joint deflection postures, so that the force direction of the adjusting rod 371 always matches the torque direction of the correction needs, ensuring that the corrective force is applied accurately and effectively.

[0061] Furthermore, a protective groove 321 is provided at the end of the protective plate 32, and the inner wall of the protective groove 321 is slidably connected to the outer surface of the adjusting rod 371.

[0062] Specifically, the protective groove 321 provides a sliding guide for the adjusting rod 371, restricting the range of motion of the adjusting rod 371 and preventing the adjusting rod 371 from shifting position when it drives the support plate 38 to adjust its position or apply a corrective torque, thus ensuring the stability of the force path. At the same time, the protective groove 321 can shield and protect the end of the adjusting rod 371, preventing external impurities from entering the sliding gap and affecting the normal sliding of the adjusting rod 371, thereby improving the stability and service life of the device.

[0063] The inner wall of the protective groove 321 is longitudinally equipped with components such as an electric telescopic rod that have telescopic functions and is connected to an external control device. The electric telescopic rod drives the adjusting rod 371 to move, so that the adjusting rod 371 is tilted. In conjunction with the electric telescopic rod arranged laterally in the inner cavity of the protective plate 32, the relative height of the two ends of the support plate 38 can be changed, and the flexion and extension angle of the ankle joint can be adjusted. Thus, the corresponding corrective torque can be applied according to the angle deviation detected in real time.

[0064] When foot drop deviation is detected, the front end of the support plate 38 is lifted by the electric telescopic rod to apply dorsiflexion assist torque and correct the drop posture. When foot inversion or eversion deviation is detected, the corresponding lateral corrective torque can be applied by the asymmetrical adjustment of the two side adjustment components 3, thereby achieving real-time active gait correction.

[0065] The control device can choose a microcontroller as the control terminal. In this embodiment, the microcontroller is a typical embedded microcontroller unit, consisting of an arithmetic logic unit (ALU), a controller, memory, input / output devices, etc., essentially a miniature computer. Compared to general-purpose microprocessors used in personal computers, it emphasizes self-sufficiency (no external hardware required) and cost savings. Its biggest advantage is its small size, allowing it to be placed inside the instrument, but it has limited storage capacity, simple input / output interfaces, and low power consumption.

[0066] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A rehabilitation orthotic device for hemiplegic lower limbs, characterized in that, Includes a base (1), the inner wall of which is symmetrically provided with guide grooves (11), and support columns (12) are fixedly provided on both sides of the base (1). The active component (2), which is fitted to the inner wall of the guide groove (11), includes a fixed rod (27) and a fixed plate (28) for simulating walking support. The end of the fixed rod (27) is fixedly connected to the lower end of the fixed plate (28), and elastically lifts the bottom end when it touches the ground to simulate the ground reaction force in a real walking scenario; Adjustment component (3), which is mounted on the upper end of the fixing plate (28), includes a support plate (38) and a tension rod (381) for supporting and locking the ankle. The end of the support plate (38) is slidably connected to the end of the tension rod (381). The support plate (38) supports the front and rear force points of the foot and applies an auxiliary torque to the ankle to perform walking simulation correction based on the deviation between the real-time detected flexion and extension angle and the preset target angle range.

2. The rehabilitation orthosis for hemiplegic lower limbs according to claim 1, characterized in that, The active component (2) also includes a snap-fit ​​block (211) that is slidably connected to the inner wall of the guide groove (11), and a base plate (21) is fixedly provided at the end of the snap-fit ​​block (211). A fixing post (22) is fixedly provided at the end of the base plate (21), and a drive disk (23) is rotatably provided at the end of the fixing post (22).

3. The rehabilitation orthotic device for hemiplegic lower limbs according to claim 2, characterized in that, The drive disk (23) is rotatably connected to drive rod one (231) and drive rod two (232) near the edge, and the cross sections of drive rod one (231) and drive rod two (232) are intersecting. The end of the first drive rod (231) is rotatably connected to a movable plate (24), the end of the movable plate (24) has a triangular cross-section, and the end of the second drive rod (232) is rotatably connected to the other corner of the end of the triangle.

4. The rehabilitation orthosis for hemiplegic lower limbs according to claim 3, characterized in that, A connecting block (25) is fixedly provided at the end of the base plate (21), and a connecting rod (251) is rotatably provided at the end of the connecting block (25). An extension rod (26) is rotatably provided on the outer surface of the connecting rod (251), and the end of the extension rod (26) is rotatably connected to the end of the fixed rod (27).

5. The rehabilitation orthosis for hemiplegic lower limbs according to claim 4, characterized in that, The end of the connecting rod (251) is rotatably connected to one side of the movable plate (24), and the end of the movable plate (24) is rotatably connected to the outer surface of the fixed rod (27).

6. The rehabilitation orthosis for hemiplegic lower limbs according to claim 1, characterized in that, The adjustment component (3) also includes a locking plate (31) that engages with the fixing plate (28). Protective plates (32) are symmetrically fixed at the ends of the locking plate (31), and a positioning shaft (33) is fixed between the two protective plates (32).

7. The rehabilitation orthosis for hemiplegic lower limbs according to claim 6, characterized in that, The outer surface of the positioning shaft (33) is slidably provided with a positioning ring (331), and the outer surface of the positioning ring (331) is engaged with an adjusting block (34), and the end of the adjusting block (34) is provided with an adjusting groove (341).

8. The rehabilitation orthosis for hemiplegic lower limbs according to claim 7, characterized in that, The inner wall of the adjustment groove (341) is fitted with a movable block (35), and the end of the movable block (35) is fixedly provided with a limiting block (36). The end of the limiting block (36) is engaged with the lower end of the tray (38), and the end of the limiting block (36) is provided with a limiting groove (361).

9. A rehabilitation orthotic device for hemiplegic lower limbs according to claim 8, characterized in that, The inner wall of the limiting groove (361) is rotatably provided with a ball (37), and the outer surface of the ball (37) is provided with a through groove, and the inner wall of the through groove is provided with an adjusting rod (371).

10. A rehabilitation orthotic device for hemiplegic lower limbs according to claim 9, characterized in that, The protective plate (32) has a protective groove (321) at its end, and the inner wall of the protective groove (321) is slidably connected to the outer surface of the adjusting rod (371).

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