Shoulder joint internal rotation and extension rehabilitation training device

Abstract

This invention relates to a shoulder joint internal rotation and extension rehabilitation training device, comprising a base, a connecting mechanism, a bionic trajectory guide, and a sliding mechanism. The bionic trajectory guide is mounted on the base via the connecting mechanism and is provided with a groove conforming to the physiological movement trajectory of shoulder joint internal rotation and extension. The sliding mechanism includes a slider, a connecting arm, and a handle, with the slider slidably disposed within the groove. The bionic trajectory guide includes a first guide rail located beside the arm, a second guide rail located behind the waist, and a third guide rail located behind the back. The first guide rail and the second guide rail, as well as the second guide rail and the third guide rail, are connected by flexible guide rails. This shoulder joint internal rotation and extension rehabilitation training device provides patients with limited shoulder joint internal rotation and extension with stable passive stretching and / or active assisted / resistance training that conforms to the physiological movement trajectory.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a shoulder joint internal rotation and extension rehabilitation training device. Background Technology

[0002] The shoulder joint has the largest range of motion in the human body, and its internal rotation and extension functions are crucial for performing daily activities such as toilet cleaning, unbuttoning underwear, scrubbing the back while showering, driving, and throwing sports. Patients with shoulder joint surgery (such as rotator cuff repair or capsuloplasty) or diseases (such as adhesive capsulitis of the shoulder) often experience significant limitations in internal rotation and extension, severely impacting their quality of life and independence.

[0003] Currently, training equipment and methods for shoulder joint rehabilitation mostly focus on movements such as external rotation, flexion and elevation, and abduction, such as pulley systems and elastic band adduction exercises. Specialized training equipment for internal rotation and extension movements is relatively scarce. The main existing technologies available for internal rotation and extension training include the following: Traditional physical therapy equipment includes wooden sticks and manual assistance from the therapist. This method relies entirely on the therapist's experience and physical strength, making it difficult to quantify training intensity and angles, and it cannot be consistently performed in a home environment.

[0004] Large, fixed rehabilitation equipment, such as isokinetic muscle strength testing and training systems. While these devices can provide precise and quantifiable training, they are bulky, expensive, and only suitable for medical institutions, failing to meet the needs of patients for high-frequency rehabilitation training at home.

[0005] Universal elastic band / tensioner: Patients can hold the elastic band to perform resisted internal rotation. However, this method lacks guidance on the movement trajectory and control for scapular stability, making patients prone to compensatory movements (such as shrugging and trunk rotation), which not only reduces the training effect but may also lead to incorrect movement patterns or even secondary injuries.

[0006] Some wearable devices: Some existing wearable shoulder joint rehabilitation devices focus on shoulder flexion and extension or abduction / adduction movements (for example, Chinese patent CN113101067A discloses a wearable shoulder joint rehabilitation exoskeleton), or although they involve rotation, they are complex in structure, heavy in weight, inconvenient to wear, and cannot perform rehabilitation exercises for passive stretching and active assisted training of external rotation range of motion, as well as extension and internal rotation.

[0007] For example, Chinese patent application CN215821025U discloses a shoulder joint external rotation rehabilitation trainer, which allows patients to perform external rotation training while seated through a fixing strap, angle adjustment plate, and handle. Although this design takes home use into account, it still has the following problems and drawbacks: First, its movement trajectory relies on simple axis rotation, failing to accurately simulate the complex kinematics of the ball-and-socket joint of the shoulder, which may lead to abnormal joint surface stress; second, after wearing the device, the patient still needs to actively exert force to control the trajectory, which is not friendly to patients with early muscle weakness.

[0008] Therefore, there is an urgent need for a specialized rehabilitation training device for shoulder internal rotation and extension that can provide precise biomechanical guidance, is lightweight, and can adapt to different stages of rehabilitation. Summary of the Invention

[0009] The purpose of this invention is to provide a shoulder joint internal rotation and extension rehabilitation training device that can provide stable passive stretching and / or active assisted / resistance training that conforms to the physiological movement trajectory for patients with limited shoulder joint internal rotation and extension.

[0010] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A shoulder joint internal rotation and extension rehabilitation training device includes: A biomimetic trajectory guide, wherein the biomimetic trajectory guide is provided with a groove that conforms to the physiological movement trajectory of internal rotation and extension of the shoulder joint; A sliding mechanism includes a slider, a connecting arm, and a handle. The slider is slidably disposed in the slide groove. The opposite ends of the connecting arm are fixedly connected to the slider and the handle, respectively, and the connecting arm protrudes from the top of the slide groove. The biomimetic trajectory guide includes a first guide rail located beside the arm, a second guide rail located behind the waist, and a third guide rail located behind the back. The first guide rail extends in a front-to-back direction, the second guide rail extends in a left-to-right direction, and the third guide rail extends in a vertical direction. The first and second guide rails, as well as the second and third guide rails, are connected by arc-shaped guide rails.

[0011] In one embodiment, the arc-shaped guide rail is a flexible guide rail, which is formed by hinged multiple guide rail connecting blocks in sequence. Each guide rail connecting block is provided with a first channel for the slider to pass through. Adjacent guide rail connecting blocks can rotate relative to each other so that the flexible guide rail can bend into an arc that conforms to the trajectory of the shoulder joint's internal rotation and extension movement.

[0012] In one embodiment, the guide rail connecting block includes a block-shaped body, one side of which is provided with a recessed first receiving recess, and the other side is provided with a protruding first connecting protrusion. Two adjacent guide rail connecting blocks are engaged with the first receiving recess through the first connecting protrusion and are hinged via a first pivot.

[0013] In one embodiment, the guide rail connecting block includes a block-shaped body, one side of which is provided with two concave second receiving recesses, and the other side is provided with two protruding second connecting protrusions. The two second receiving recesses and the two second connecting protrusions are respectively symmetrically arranged in the radial direction of the first channel. Two adjacent guide rail connecting blocks cooperate with the second receiving recesses through the second connecting protrusions and are hinged via a second pivot.

[0014] In one embodiment, the second guide rail is a telescopic guide rail, including a first track unit and a second track unit, which are slidably connected relative to each other along the axial direction of the groove to adjust the length of the second guide rail.

[0015] In one embodiment, the first track unit extends a plurality of first spokes along the axial direction of the slide groove, the plurality of first spokes being spaced apart in the circumferential direction of the slide groove, and the inner wall of the first spokes forming part of the circumferential wall of the slide groove; the second track unit extends a plurality of second spokes along the axial direction of the slide groove, the plurality of second spokes being spaced apart in the circumferential direction of the slide groove, and the inner wall of the second spokes forming part of the circumferential wall of the slide groove; the first spokes and the second spokes are interlocked into each other in the gap between them.

[0016] In one embodiment, the shoulder joint internal rotation and extension rehabilitation training device further includes a base and a connecting mechanism, wherein the bionic trajectory guide is installed to the base through the connecting mechanism.

[0017] In one embodiment, the slider is a spherical structure, the groove has a circular cross-section, and the groove and the slider are in clearance fit.

[0018] In one embodiment, the first guide rail and the third guide rail are respectively provided with a third connecting protrusion or a third receiving recess that matches the receiving recess or connecting protrusion of the guide rail connecting block, so as to achieve a detachable connection with the flexible guide rail.

[0019] In one embodiment, the connecting mechanism includes a first fixing member, a second fixing member, and a connecting member. The first fixing member is fixedly connected to the biomimetic trajectory guide rail, the second fixing member is fixedly connected to the base, and the opposite ends of the connecting member are fixedly connected to the first fixing member and the second fixing member, respectively. The connecting member is a lifting device capable of vertical lifting.

[0020] In one embodiment, the lifting device includes a lifting rod and a lifting drive mechanism, wherein the lifting drive mechanism is used to drive the lifting rod to move up and down in the vertical direction; the lifting drive mechanism is selected from one of an electric cylinder, a manual cylinder, an electric slide rail, or a lead screw and gear set.

[0021] In one embodiment, the base is a seat, the seat includes a seat surface and support legs, and the side of the seat surface has a plurality of mounting holes, which are spaced apart along the length direction of the seat surface to allow the connecting mechanism to be installed in an adjustable manner along the length direction of the seat surface.

[0022] In one embodiment, the shoulder joint internal rotation and extension rehabilitation training device further includes a traction mechanism, which is drivenly connected to the sliding mechanism and used to traction the sliding mechanism to move along the slide groove; the traction mechanism is disposed at the starting end and / or the ending end of the slide groove, and the traction mechanism includes a guide wheel and a traction rope, which is drivenly connected to the slider.

[0023] In one embodiment, the bottom of the slider is provided with a traction post, the bottom of the slide groove is provided with a traction groove that matches the traction post, the traction rope is located in the traction groove, and one end of the traction rope is fixedly connected to the traction post.

[0024] In one embodiment, the traction mechanism further includes a traction motor, which is drivenly connected to the guide wheel. The traction rope is wound around the guide wheel, and the guide wheel is driven to rotate by the traction motor to pull the sliding mechanism to move along the slide groove.

[0025] In one embodiment, the traction rope is an elastic rope.

[0026] The present invention, employing the above-described technical solution, has the following beneficial effects: Compared with the prior art, the shoulder joint internal rotation and extension rehabilitation training device provided by the present invention has the following beneficial effects: Precise and safe training: Through the rigid constraint of the three-dimensional curved guide rail, the shoulder joint internal rotation and extension rehabilitation training device provided by this invention strictly ensures that the shoulder joint internal rotation and extension movement is carried out along the physiological trajectory, fundamentally inhibiting common compensatory movements such as shoulder shrugging and trunk rotation, greatly reducing the risk of joint stress abnormalities and secondary injuries caused by incorrect movement patterns, and significantly improving the safety and effectiveness of rehabilitation training.

[0027] The training modes are flexible and adjustable, adapting to the entire rehabilitation cycle: Through modular resistance / assistance adjustment modules, the same set of equipment can easily achieve progressive training from painless passive range of motion maintenance in the early postoperative period, to active assisted stretching in the mid-recovery period, and then to resistance muscle strengthening in the later stage. Therapists or patients can replace the elastic modules or adjust the limit blocks according to the progress of rehabilitation without replacing the entire set of equipment, significantly reducing rehabilitation costs.

[0028] Simple and reliable structure with controllable cost: Compared with complex multi-degree-of-freedom shoulder joint exoskeleton robots, this invention adopts the simple and ingenious mechanical principle of rigid guide rail constraining slider. While achieving precise trajectory guidance, it greatly simplifies the structure, reduces manufacturing costs and maintenance difficulty, which is conducive to large-scale promotion and application and has good socio-economic value. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of a shoulder joint internal rotation and extension rehabilitation training device.

[0030] Figure 2 This is a diagram of a seat.

[0031] Figure 3 This is a schematic diagram of the connecting mechanism.

[0032] Figure 4 This is a schematic diagram of a biomimetic trajectory guide.

[0033] Figure 5 This is a top view of a biomimetic trajectory guide.

[0034] Figure 6 This is a side view of a biomimetic trajectory guide.

[0035] Figure 7 This is a schematic diagram of the first type of guide rail connecting block.

[0036] Figure 8 This is a schematic diagram of the second type of guide rail connecting block.

[0037] Figure 9 This is a schematic diagram of the first guide rail.

[0038] Figure 10 This is a schematic diagram of the third guide rail.

[0039] Figure 11 This is a schematic diagram of the second guide rail.

[0040] Figure 12 This is an exploded view of the second guide rail.

[0041] Figure 13 This is a cross-sectional view of the second guide rail.

[0042] Figure 14This is a schematic diagram of the sliding mechanism.

[0043] Figure 15 This is a schematic diagram of the traction mechanism.

[0044] Figure 16 This is a schematic diagram of a patient using a shoulder joint internal rotation and extension rehabilitation training device. Detailed Implementation

[0045] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative of the essential spirit of the technical solution of the present invention.

[0046] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0047] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0048] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0049] The singular forms “a” and “the” used in this specification and the appended claims include plural references unless otherwise expressly stated herein. It should be noted that the term “or” is generally used to mean “and / or” unless otherwise expressly stated herein.

[0050] In the following description, in order to clearly demonstrate the structure and operation of the present invention, a number of directional terms will be used. However, terms such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and not as limiting terms.

[0051] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," not that the structure must be completely horizontal, but can be slightly tilted.

[0052] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" 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 connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0053] like Figures 1-15 As shown in the figure, this specific embodiment provides a shoulder joint internal rotation and extension rehabilitation training device. The shoulder joint internal rotation and extension rehabilitation training device shown in the figure is used for rehabilitation training of the right shoulder joint, but it is also applicable to the left side through mirror design. The shoulder joint internal rotation and extension rehabilitation training device includes a biomimetic trajectory guide 1, a sliding mechanism 2, a connecting mechanism 3, and a base 4.

[0054] See Figure 2 In this embodiment, the base 4 is a seat. In practical applications, other bases that can support the bionic trajectory guide 1 on the ground, such as counterweights, can also be used. Patients can provide their own armless or detachable armrest office chairs or wheelchairs to use the shoulder joint internal rotation and extension rehabilitation training device provided in this specific embodiment in a seated position. The seat in this specific embodiment is a regular four-legged chair, including a seat 41 and supporting legs 42. Multiple mounting holes 43 are pre-set on the right and rear sides of the seat 41. The multiple mounting holes 43 on each side are spaced apart along their length to achieve the purpose of adjustment along their length. In some specific embodiments, long strip-shaped mounting grooves can also be provided on the sides to achieve the purpose of adjustment along the length.

[0055] The connecting mechanism 3 is used to fix the biomimetic trajectory guide 1 to the base 4. (See also...) Figure 3In this embodiment, the connecting mechanism 3 includes a first fixing member 31, a second fixing member 32, and a connecting member 33. The first fixing member 31 and the second fixing member 32 are respectively fixedly connected to the opposite ends of the lifting device 33, and the opposite ends of the lifting device 33 are respectively fixedly connected to the bionic trajectory guide rail 1 and the base 4. Preferably, the connecting member 33 is a lifting device capable of vertical lifting. This lifting device includes a lifting rod 331 and a lifting drive mechanism 332. The lifting drive mechanism 332 is used to drive the lifting rod 331 to lift vertically, thereby achieving the purpose of driving the bionic trajectory guide rail 1 to adjust its height in the height direction. The lifting device can be an electric or manual cylinder. The cylinder body is fixedly connected to the second fixing member 32, and the piston rod of the cylinder is fixedly connected to the first fixing member 31. In some specific embodiments, other devices that can achieve the same function can also be used, such as electric slide rails, lead screw gear sets, etc.

[0056] The biomimetic trajectory guide 1 is designed with a track that conforms to the physiological trajectory of shoulder joint internal rotation and extension. When the sliding mechanism 2 slides along the biomimetic trajectory guide 1, it strictly ensures that the shoulder joint internal rotation and extension movement follows the physiological trajectory, fundamentally inhibiting common compensatory movements such as shoulder shrugging and trunk rotation. This greatly reduces the risk of abnormal joint stress and secondary injury caused by incorrect movement patterns, significantly improving the safety and effectiveness of rehabilitation training. See also Figure 4 - Figure 6 The bionic trajectory guide 1 is equipped with a groove 11 that conforms to the physiological movement trajectory of shoulder joint internal rotation and extension. This groove 11 is a continuous or semi-enclosed channel along the length of the bionic trajectory guide 1. From a top-down view, the curve of the groove 11 is a near-circular arc structure centered on the approximate center of the user's glenohumeral joint, with a radius of approximately 20-30 cm depending on the user's body size. From a side view, the curve extends smoothly and upwards and forwards from the posterior side of the torso, with the angle of inclination matching the plane of the scapula. This curve shape ensures that when the sliding mechanism 2 moves along the guide, the forearm and humerus it drives precisely perform a pure shoulder joint internal rotation and extension movement without additional rotational components. The groove 11 is a continuous or semi-enclosed channel along the length of the bionic trajectory guide 1.

[0057] In this embodiment, the bionic trajectory guide 1 includes a first guide rail 12 located beside the arm, a second guide rail 13 located behind the waist, and a third guide rail 14 located behind the back. The first and second guide rails 12 and 13 extend horizontally, while the third guide rail 14 extends vertically. The first and third guide rails 12 and 14 are linear guide rails, and the second guide rail 13 is a telescopic guide rail. The connection between the first and third guide rails 14 and the second guide rail 13 is achieved through a flexible guide rail 15. The flexible guide rail 15 can bend into a regular arc according to the patient's shoulder joint internal rotation and extension movements, thus achieving an arc-shaped transition connection between the first and second guide rails 12 and 13, and between the second and third guide rails 13 and 14.

[0058] The flexible guide rail 15 is composed of multiple guide rail connecting blocks 151. See also... Figure 7 , Figure 7 The structure of the first type of guide rail connecting block 151 is shown. Each guide rail connecting block 151 includes a block-shaped body 152. The middle part of the body 152 is a first channel 153 that forms part of the slide groove 11. A first receiving recess 154 is provided on one side of the body 152 along the axial direction of the first channel 153. A first connecting protrusion 155 is provided on the other side of the body 152 along the axial direction of the first channel 153. The first connecting protrusion 155 of the guide rail connecting block 151 can be assembled into the first receiving recess 154 of another adjacent guide rail connecting block 151, and a first rotating shaft 156 is used to achieve a rotatable connection with the first rotating shaft 156 as the axis, thereby enabling the flexible guide rail 15 to bend to a certain degree within a set range.

[0059] See Figure 8 , Figure 8A second type of guide rail connecting block 151 is shown. This guide rail connecting block 151 has a structure basically the same as the first type, also including a block-shaped body 152. The center of the body 152 forms a first channel 153, which is part of the slide groove 11. Two second receiving recesses 157 are provided on one side of the body 152 along the axial direction of the first channel 153. Two second connecting protrusions 158 are provided on the other side of the body 152 along the axial direction of the first channel 153. The second connecting protrusions 158 of the guide rail connecting block 151 can be fitted into the second receiving recesses 157 of an adjacent guide rail connecting block 151, and are rotatably connected around a second rotating shaft 159 provided on the second connecting protrusions 158, thereby enabling the flexible guide rail 15 to bend to a certain degree within a set range. The two second receiving recesses 157 and the two second connecting protrusions 158 are symmetrically arranged in the radial direction of the first channel 153.

[0060] See Figure 9 and Figure 10 The first guide rail 12 and the third guide rail 14 are respectively provided with a third connecting protrusion 121 or a third receiving recess 141 that matches the receiving recess or connecting protrusion of the corresponding guide rail connecting block 151, thereby realizing the connection with the flexible guide rail 15.

[0061] See Figures 11-13 The second guide rail 13 includes a first track unit 131 and a second track unit 132. The first track unit 131 extends a plurality of first spokes 1311 along the axial direction of the slide groove 11. The plurality of first spokes 1311 are spaced apart in the circumferential direction of the slide groove 11, and the inner walls of the plurality of first spokes 1311 constitute part of the circumferential wall of the slide groove 11. The second track unit 132 extends a plurality of second spokes 1321 along the axial direction of the slide groove 11. The plurality of second spokes 1321 are spaced apart in the circumferential direction of the slide groove 11, and the inner walls of the plurality of second spokes 1321 constitute part of the circumferential wall of the slide groove 11. The first spokes 1311 and the second spokes 1321 are interlocked into their respective gaps, and the first track unit 131 and the second track unit 132 are slidably connected in the axial direction of the slide groove 11, thereby realizing the extension and retraction function of the second guide rail 13 in the axial direction of the slide groove 11, allowing the length of the second guide rail to be adjusted according to the patient's body shape.

[0062] The first track unit 131 and the second track unit 132 are also provided with a connection structure on one side of the corresponding flexible guide rail 15 to connect with the flexible guide rail 15. The specific connection structure can be referred to as the connection protrusion and the receiving recess of the guide rail connecting block.

[0063] See Figure 14The sliding mechanism 2 includes a slider 21, a connecting arm 22, and a handle 23. The main body of the slider 21 is housed within the groove 11 of the biomimetic trajectory guide 1 and can slide along the groove 11. In this specific embodiment, the slider 21 has a spherical structure, and the corresponding groove 11 has a circular cross-section, which is clearance-fitted with the slider 21. The two ends of the connecting arm 22 are fixedly connected to the top of the slider 21 and the bottom of the handle 23, respectively. A window is provided at the top of the groove 11 so that the top of the connecting arm 22 can extend from inside the groove 11 to outside the guide rail, and the entire handle 23 is located outside the guide rail. When the patient performs rehabilitation training, he holds the handle 23 and actively or passively moves along the groove 11 to perform shoulder joint internal rotation and extension movements.

[0064] In this embodiment, the shoulder joint internal rotation and extension rehabilitation training device is further provided with a traction mechanism 5, which is drivenly connected to the sliding mechanism 2 to traction the sliding mechanism 2 to move along the slide groove 11. See also Figure 1 and Figure 15 The traction mechanism 5 is located at the beginning and / or end of the chute 11, and includes a guide wheel 51 and a traction rope (not shown in the figure). See also Figure 13 and Figure 14 The bottom of the slider 21 is also equipped with a traction post 211, the main structure of which is also spherical. Correspondingly, the bottom of the slide groove 11 is equipped with a traction groove 111 that matches the traction post 211. A traction rope is fixedly connected to the traction post 211, and the traction rope is laid along the traction groove 111 and guided to the outside of the slide groove 11 by the guide wheel 51. Patients, their families, or treating physicians can use the traction rope to pull the sliding mechanism 2 to assist patients in performing shoulder joint internal rotation and extension movements.

[0065] In some embodiments, the traction mechanism 5 further includes a traction motor 52, which is drivenly connected to the guide wheel 51. The traction rope is wound around the guide wheel 51, and the operation of the traction motor 52 can assist the patient in performing internal rotation and extension movements of the shoulder joint.

[0066] In this embodiment, the traction rope can also be replaced with an elastic rope, which provides corresponding training resistance through its elasticity to meet the rehabilitation needs of patients at different stages.

[0067] The shoulder joint internal rotation and extension rehabilitation training device provided in this embodiment should be adjusted according to the patient's actual condition before the patient begins rehabilitation training. (See attached image) Figure 16 The patient sits in the chair, adjusting their posture to keep their torso upright and feet flat. The therapist adjusts the height, length, and bending angle of the bionic trajectory guide 1 according to the patient's body shape until the device is a perfect fit, allowing rehabilitation training to begin. This shoulder joint internal rotation and extension rehabilitation training device offers multiple training modes to suit the patient's specific needs. Mode A: Early postoperative passive range of motion training aims to perform passive or assisted internal rotation and extension movements within a pain-free range. In Mode A, the patient can use a traction device to assist with internal rotation and extension movements. The patient completely relaxes the affected arm, and the traction rope slowly pulls the slider backward until the maximum range of motion is reached. Then, the unaffected hand, a family member, or the treating physician assists in pushing the slider back to its original position. Repeat 10-15 times, 2 sets per day. Active exertion is not required at this stage.

[0068] Mode B: Mid-term active assisted training, the purpose of which is to actively complete internal rotation and extension movements and rebuild neuromuscular control. In Mode B, the patient actively exerts force to perform internal rotation and extension movements. During this process, a small amount of traction can be provided by a traction rope to assist in moving the slider backward until the maximum range of motion is reached; then, the slider is pushed back to its original position with the assistance of the unaffected hand, a family member, or the therapist. Repeat 10-15 times, 3 sets per day.

[0069] Mode C: Later resistance strengthening training, the purpose of which is to enhance the strength and endurance of the internal rotator and extensor muscles. In Mode C, the traction rope is replaced with an elastic rope for standard resistance training, which can be performed in multiple sets, low repetitions, high load strength training (6-8 repetitions per set, 3-4 sets) or high repetitions, low load endurance training (15-20 repetitions per set, 2-3 sets).

[0070] The preferred embodiments of the present invention have been described in detail above. However, it should be understood that after reading the above teachings, those skilled in the art can make various alterations or modifications to the present invention. These equivalent forms also fall within the scope defined by the appended claims.

Claims

1. A shoulder internal rotation and extension rehabilitation training device, characterized in that, include: A biomimetic trajectory guide, wherein the biomimetic trajectory guide is provided with a groove that conforms to the physiological movement trajectory of internal rotation and extension of the shoulder joint; A sliding mechanism includes a slider, a connecting arm, and a handle. The slider is slidably disposed in the slide groove. The opposite ends of the connecting arm are fixedly connected to the slider and the handle, respectively, and the connecting arm protrudes from the top of the slide groove. The biomimetic trajectory guide includes a first guide rail located beside the arm, a second guide rail located behind the waist, and a third guide rail located behind the back. The first guide rail extends in the front-to-back direction, the second guide rail extends in the left-to-right direction, and the third guide rail extends in the height direction. The first guide rail and the second guide rail, as well as the second guide rail and the third guide rail, are connected by arc-shaped guide rails.

2. The retroversion and extension rehabilitation training device for shoulder joint according to claim 1, characterized in that, The arc-shaped guide rail is a flexible guide rail, which is formed by hinged multiple guide rail connecting blocks in sequence. Each guide rail connecting block is provided with a first channel for the slider to pass through. Adjacent guide rail connecting blocks can rotate relative to each other so that the flexible guide rail can bend into an arc that conforms to the internal rotation and extension movement trajectory of the shoulder joint.

3. The retroversion and extension rehabilitation training device for shoulder joint according to claim 2, characterized in that, The guide rail connecting block includes a block-shaped body. One side of the body is provided with a concave first receiving recess, and the other side is provided with a protruding first connecting protrusion. Two adjacent guide rail connecting blocks are connected by the first connecting protrusion and the first receiving recess, and are hinged via a first rotating shaft.

4. The retroversion and extension rehabilitation training device for shoulder joint according to claim 2, characterized in that, The guide rail connecting block includes a block-shaped body. Two concave second receiving recesses are provided on one side of the body, and two protruding second connecting protrusions are provided on the other side. The two second receiving recesses and the two second connecting protrusions are symmetrically arranged in the radial direction of the first channel. Two adjacent guide rail connecting blocks cooperate with the second receiving recesses through the second connecting protrusions and are hinged via the second pivot.

5. The retroversion and extension rehabilitation training device for shoulder joint according to claim 1, characterized in that, The second guide rail is a telescopic guide rail, including a first track unit and a second track unit. The first track unit and the second track unit are slidably connected relative to each other along the axial direction of the slide groove to adjust the length of the second guide rail.

6. The shoulder joint internal rotation and extension rehabilitation training device according to claim 5, characterized in that, The first track unit extends a plurality of first spokes along the axial direction of the slide groove, and the plurality of first spokes are spaced apart in the circumferential direction of the slide groove, the inner wall of the first spokes forming part of the circumferential wall of the slide groove; the second track unit extends a plurality of second spokes along the axial direction of the slide groove, and the plurality of second spokes are spaced apart in the circumferential direction of the slide groove, the inner wall of the second spokes forming part of the circumferential wall of the slide groove; the first spokes and the second spokes are interlocked into the gaps between them.

7. The shoulder joint internal rotation and extension rehabilitation training device according to claim 1, characterized in that, The shoulder joint internal rotation and extension rehabilitation training device also includes a base and a connecting mechanism, and the bionic trajectory guide is installed to the base through the connecting mechanism.

8. The shoulder joint internal rotation and extension rehabilitation training device according to claim 1, characterized in that, The shoulder joint internal rotation and extension rehabilitation training device also includes a traction mechanism, which is drivenly connected to the sliding mechanism and used to traction the sliding mechanism to move along the slide groove. The traction mechanism is located at the starting end and / or the ending end of the slide groove. The traction mechanism includes a guide wheel and a traction rope, and the traction rope is drivenly connected to the slider.

9. The retroversion and extension rehabilitation training device for shoulder joint according to claim 8, characterized in that, The bottom of the slider is provided with a traction column, and the bottom of the slide groove is provided with a traction groove that matches the traction column. The traction rope is located in the traction groove, and one end of the traction rope is fixedly connected to the traction column.

10. The retroversion and extension rehabilitation training device for shoulder joint according to claim 9, characterized in that, The traction mechanism also includes a traction motor, which is driven and connected to the guide wheel. The traction rope is wound around the guide wheel, and the guide wheel is driven to rotate by the traction motor to pull the sliding mechanism to move along the slide groove.

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