Hip joint adduction and abduction training mechanism

Abstract

A hip joint adduction and abduction training mechanism (600) is characterized in that an arc-shaped rail (610) is clamped at the lower part of the tail end of a linear guide rail (110), the arc of the arc-shaped rail (610) and a track rotating by taking the tail end of a base as a circle and taking the length of the base as the radius are the same arc line, and meshing teeth (611) are arranged on the inner concave surface of the arc-shaped rail (610); the lower part of the tail end of the linear guide rail (110) is correspondingly connected with a gear which is meshed with the linear guide rail; the gear is provided with a rotatable core shaft (621), two adduction and abduction training pull ropes (630) are connected to the two sides of the core shaft respectively, or only one adduction and abduction training pull rope (630) is fixedly connected to the two sides of the core shaft in a penetrating mode and then extends to the two sides of the head end of the base along the linear guide rail to be detachably fixed so that the upper limbs of a trainee can be pulled. According to the utility model, a patient can carry out multi-degree-of-freedom, passive, power-assisted, active and other multi-mode integrated training as soon as possible when the patient is in a lying position, so that the adduction and abduction radian can reach 45 degrees, and the early rehabilitation of the patient is effectively promoted.

Description

Technical Field

[0001] The utility model relates to a medical device, in particular to a hip joint adduction and abduction training mechanism. Background Art

[0002] With the rapid development of science and technology in today's society, people's living standards have greatly improved. However, many elderly people suffer from neurological diseases or cerebrovascular diseases, and the incidence of such diseases in society is increasing every year. Among stroke patients, approximately 70% to 80% experience varying degrees of lower limb movement disorders.

[0003] In recent years, with the rapid development of intelligent rehabilitation technology, lower limb rehabilitation robotics has enabled patients with lower limb movement disorders to undergo scientific and effective rehabilitation training through weight reduction and repeated training of a standardized normal physiological gait, ultimately restoring their ability to walk. However, clinical practice has shown that this training model is less effective for patients with muscle strength below level 3 or for restoring limb function in patients with Parkinson's disease. Exoskeleton systems, based on bionic principles and with structures close to anatomy, can organically integrate robotic technology with rehabilitation therapy, assisting patients with specific joint training and improving physical function. However, only 55% of patients who undergo rehabilitation therapy regain the ability to walk.

[0004] Patients with neurological or cerebrovascular diseases often suffer from hip fractures due to abnormal gait, making it difficult to recover lower limb motor function. Hip fractures are also the most common lower limb fractures in the elderly. To improve patients' walking ability, surgery is the main method for treating elderly hip fractures, but only 40% to 60% of patients' functional activity recovers to pre-fracture levels after surgery. There are no reports on the use of robotic lower limb rehabilitation training in patients after internal fixation of hip fractures.

[0005] To better help patients with lower limb dysfunction recover their pre-standing strength, achieve the feasibility of lower limb walking training, and ultimately promote the recovery of lower limb walking function, literature reports suggest that experts have designed two-degree-of-freedom and three-combination-degree-of-freedom lower limb rehabilitation robots to address these issues. This training model involves core muscle group training in a recumbent position. While this training approach can promote safe and early lower limb rehabilitation, it still has drawbacks. Training with two-degree-of-freedom lower limb rehabilitation robots is essentially a passive hip and knee training model that fails to consider the ankle joint's inherent range of motion and training status. Foot training plays a crucial role in lower limb functional rehabilitation. While three-degree-of-freedom lower limb rehabilitation robots are designed to accommodate rehabilitation exercises for the thigh, calf, and ankle joints, their drive system utilizes only hydraulics and lacks resistance training, making it difficult to restore lower limb strength.

[0006] To develop a lower limb rehabilitation training device that can be used for patients with lower limb dysfunction due to nervous system damage or hip fracture, or patients suffering from both stroke and hip fracture, to perform multi-joint, multi-activity, anti-spasm, and resistance training for the lower limbs, the applicant, whose application number is CN202210340685.9 and whose invention is titled "Intelligent Multifunctional All-in-One Lower Limb Rehabilitation Training Machine," has also designed an intelligent multifunctional all-in-one lower limb rehabilitation training machine. However, during further research and development, it was discovered that the hip adduction and abduction training mechanism of the all-in-one machine had the following defects:

[0007] 1) Training can only be performed under power. In clinical applications, it is found that passive training mode can only be used for a short time, and active training mode is the best way to promote patients to better restore limb function and physical and mental health.

[0008] 2) There is only a single-limb training mode, and multi-limb linkage is not possible.

[0009] 3) When performing hip adduction and abduction training, the range of motion on the horizontal track can only be within 0-5 degrees. The arc is too small and the training effect is limited.

[0010] 4) The foot support has a small range of motion and insufficient freedom. During internal and external rotation training, the ankle and toes cannot plantar flex and can only passively perform internal and external rotation under dorsiflexion. This prevents the muscles from moving in a free and relaxed state, making it easy to damage the muscles and ligaments, and there is a possibility of causing sensory tension in the ankle joint.

[0011] 5) The angle of the foot is fixed, and it is not possible to relax the lower limbs by relaxing the foot with the help of the device, nor can the device be used for anti-spasmodic operations. Utility Model Content

[0012] The technical problem to be solved by this application is to provide a hip adduction and abduction training mechanism that can perform passive, assisted, active and other multi-mode training as early as possible in the supine position, and the arc of adduction and abduction can reach 45°, effectively promoting the early recovery of patients.

[0013] To solve the above technical problems, the utility model provides a hip adduction and abduction training mechanism, comprising a base and a flexion and extension bracket; the base body is a linear guide rail, which is connected to a head end connector, and a linear groove is provided on the linear guide rail along the length direction; the flexion and extension bracket is composed of a thigh bracket, a calf bracket and a foot bracket that are rotatably connected in sequence; the outer end of the thigh bracket is rotatably connected to the head end connector, and the bottom end of the foot bracket is connected to a flexion and extension roller, and the flexion and extension roller can reciprocate on the linear groove to realize the reciprocating flexion and extension of the flexion and extension bracket above the base; it is characterized in that

[0014] An arc track is provided at the lower end of the linear guide rail, the arc of which is the same arc as the trajectory of rotation with the base end as the center and the base length as the radius, and the inner concave surface of the arc is provided with meshing teeth; a gear for inward and outward movement is rotatably connected vertically to the corresponding position at the lower end of the linear guide rail, and the inward and outward movement gear is meshed with the meshing teeth;

[0015] The adduction and abduction gear has a rotatable core shaft, and two adduction and abduction training ropes are respectively connected to both sides of the core shaft, or only one adduction and abduction training rope is fixedly connected to both sides of the core shaft of the adduction and abduction gear, and then extends along the linear guide rail to the two sides of the head end connector of the base and is detachably fixed.

[0016] The inward and outward gear is an I-shaped gear, with gears at the upper and lower ends and a core shaft in the middle. Correspondingly, the meshing teeth are in two parallel rows. The I-shaped inward and outward gear is clamped in the I-shaped groove of the linear guide rail.

[0017] The ends of a pair of the adduction and abduction training ropes can be hung on the fixed positions or hanging rings on both sides of the head end connector of the base.

[0018] The head end connector is also provided with a hook for fixing the rope that has been pulled to a certain extent and needs to be positioned.

[0019] The middle portion of each of the adduction and abduction training ropes passes through rope fixing tubes set on both sides of the linear guide rail.

[0020] A support plate is provided outside the foot support plate of the foot bracket, the lower end of the support plate is hinged to the heel of the foot support plate, and an elastic component is provided between the upper end of the support plate and the forefoot of the foot support plate.

[0021] An encapsulation shell is used between the foot support plate and the support plate to encapsulate the elastic component.

[0022] The elastic component is a spring or a hydraulic rod.

[0023] An electric control box is connected to the end of the linear guide rail. The control box has a built-in power supply or can be connected to a power supply, and is provided with a control display screen and control buttons; the wire interface extending from the electric control box is electrically connected to the circuit connector at the hollow part below the linear guide rail; the electric control box is plugged into the plug interface on the linear guide rail through a plug column.

[0024] The core shaft of the adduction and abduction gear is equipped with a fourth motor 0) for automatic adduction and abduction training; the fourth motor is electrically connected to the electric control box for control.

[0025] Compared with the prior art, the beneficial effects of the present invention are mainly:

[0026] 1. A combination of rigidity and flexibility, with the addition of an adduction and abduction training rope, allows the healthy upper limb to actively assist the affected lower limb in training. Pulling the rope with the upper limb moves the adduction and abduction gears left and right on a curved track, achieving adduction and abduction of the hip joint. Active training can be performed with two or three limbs, greatly enhancing the effectiveness of the training shoe.

[0027] 2. The hip adduction and abduction training mechanism adopts an arc track, which expands the range of adduction and abduction to 0-45 degrees, further improving the training effect.

[0028] 3. In a further technical solution of the present invention, an elastic component is used to support the footrest and the support plate, and the footrest and the support plate are rotatably connected. The foot is not fixed at a certain angle, but can change angles and rebound as the foot steps on the foot. This increases the freedom of the foot. Whether in internal and external rotation training, flexion and extension training, or adduction and abduction training, the foot can freely dorsiflex and plantar flex, and the ankle joint is more relaxed. This not only avoids sports injuries, but also greatly improves the training effect. It is also in line with the ankle pump training mode for preventing lower limb venous thrombosis. Many elderly people after iliotibial knee surgery have poor compliance with independent ankle pump training. This machine can be used instead of active training to achieve the effect of preventing deep vein thrombosis in the lower limbs.

[0029] The rebound assist of this structure allows for easy rotational loosening of the entire lower limb. This method implements the relaxation training of the Five Meridians in Traditional Chinese Medicine, providing patients with a comfortable experience. Loosening the lower limb muscles, as it is also a meridian therapy, can dredge the meridians and promote blood circulation, further effectively preventing deep venous blood flow in the lower limbs. In clinical practice, it has been found that assisting patients with lower limb whole-body exercises in the supine position can promote rapid recovery of muscle strength and tone.

[0030] The device of this utility model is based on the applicant's successful experience in various manual treatments. It integrates passive, assisted and active functional training modes and ankle and hip joint training modes into one device. This device is also small and easy to carry, making it very convenient for medical staff, caregivers and patients themselves to operate. It also has an ingenious and simple structure and low cost.

[0031] In a further technical solution, the present invention also adopts electric control. When the patient is completely unable to perform active training or assisted training, the motor can be started to start rehabilitation training as soon as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is an overall three-dimensional schematic diagram of the rehabilitation training device in which the hip adduction and abduction training mechanism of the present invention is located.

[0033] Figure 2It is an overall three-dimensional schematic diagram from another angle of the rehabilitation training device where the hip adduction and abduction training mechanism of the present invention is located.

[0034] Figure 3 It is a three-dimensional schematic diagram of the connection relationship between the arc track and the gear of the utility model.

[0035] Figure 4 It is a schematic diagram of the gear connection position of the present utility model.

[0036] Figure 5 This is a motor connection diagram of the present utility model. DETAILED DESCRIPTION

[0037] The technical solutions of the preferred embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0038] For the convenience of description, Figure 1 For reference, the thigh support end of the device is defined as the head end, and the electric control box and foot support end is defined as the tail end; when describing the direction of movement, reference is made to the feeling of a person's legs when operating the training device. Movement of the foot toward the electric control box is defined as forward, and movement of the foot toward the thigh is defined as backward.

[0039] like Figure 1-2 As shown, the overall device of the present invention, which houses the hip adduction and abduction training mechanism, is a multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility. It mainly includes a base 100, a flexion and extension bracket 200, a hip and knee flexion and extension training control mechanism, an ankle dorsiflexion and plantar flexion training mechanism 400, a hip and ankle internal and external rotation training mechanism 500, and a hip adduction and abduction training mechanism 600. The base 100 is mainly composed of a linear guide 110 connected to a head end connector 120, and a linear groove 111 is provided along the length of the linear guide. The flexion and extension bracket 200 is composed of a thigh bracket 210, a calf bracket 220, and a foot bracket 230 that are rotatably connected in sequence. The outer end of the thigh bracket 210 is rotatably connected to the head end connector 120, and the bottom end of the foot bracket 230 is connected to a flexion and extension roller 231. The flexion and extension roller 231 can reciprocate on the linear groove 111 to achieve reciprocal flexion and extension of the flexion and extension bracket above the base.

[0040] The utility model relates to an improvement of a hip joint adduction and abduction training mechanism 600.

[0041] like Figure 1-5As shown, the hip adduction and abduction training mechanism 600 of the present invention includes: an arc track 610 is provided at the lower end of the linear guide rail 110, and its arc is the same arc as the trajectory of rotation with the base end as the center and the base length as the radius, so that the adduction and abduction arc can be as high as 45°, and the inner concave surface of the arc is provided with meshing teeth 611, and the meshing teeth are preferably two rows of upper and lower parallel teeth; an I-shaped adduction and abduction gear 620 is rotatably vertically fixed in the I-shaped groove 622 at the corresponding position of the lower end of the linear guide rail 110, with gears at the upper and lower ends and a core shaft 621 in the middle, and its gear surface is aligned with the The meshing teeth 611 mesh with each other; the adduction and abduction gear 620 has a rotatable core shaft 621, and two adduction and abduction training ropes 630 are respectively connected to both sides of the core shaft, or there is only one adduction and abduction training rope 630 that is fixedly connected to both sides of the core shaft of the adduction and abduction gear 620, and then extends along the linear guide 110 to the front end connector 120 of the base and is detachably fixed on both sides, so that the user can pull with his left and right hands in turn to drive the adduction and abduction gear 620 to roll back and forth on the meshing teeth 611, thereby driving the linear guide 110 to swing in an arc left and right, and realizing active training of the adduction and abduction of the hip joint. Patients who are still unable to train independently need early and timely training. A motor 740 for automatic adduction and abduction training is built into the core shaft 621 of the adduction and abduction gear 620, which can provide passive training, such as Figure 5 shown.

[0042] For ease of use, the middle portion of the adduction and abduction training rope 630 passes through rope fixing tubes 160 on either side of the linear guide rail 110. The ends of the rope can be hung on fixed locations or loops 631 on either side of the base's head connector 120. The head connector 120 also features a hook 125 for securing the rope once it has been pulled to a certain extent and requires positioning for movement.

[0043] An electrical control box 700 is connected to the end of the linear guide 110. The control box has a built-in power supply or can be connected to a power supply, and is equipped with a control display 701 and control buttons 702. A wire interface 703 extending from the electrical control box is electrically connected to a circuit connector 113 in the hollow portion below the linear guide 110. The electrical control box 700 is plugged into the socket 112 on the linear guide 110 via a plug-in post 704. The motor 740 is electrically connected to the electrical control box for control.

[0044] In order to make the patient's feet more comfortable and free, a support plate 410 is provided outside the foot support plate 232 of the foot bracket 230. The lower end of the support plate 410 is hinged to the heel of the foot support plate 232, and an elastic component 420 is provided between the upper end of the support plate and the forefoot of the foot support plate 232. The elastic component can be a spring or a hydraulic rod. In this embodiment, 9 hydraulic rods are preferably used in a circular distribution, and an encapsulation shell 421 is used to encapsulate the elastic component 420 between the foot support plate 232 and the support plate 410. In the initial natural state, the hydraulic rod is stretched. Due to the setting of the elastic component at the bottom end of the foot support plate, the foot has room to move after being placed in the foot support plate. It can be freely and dynamically adjusted according to the required range of motion of the ankle joint. During the adduction and abduction training, the foot angle will not be fixed and stiff.

[0045] Taking the left lower limb as an example, the working process of the hip adduction and abduction training mechanism of the present invention is as follows:

[0046] The patient lies supine, and the training device is placed in a position parallel to the patient's affected limb. The affected limb is placed into the device according to the position of the thigh, calf, and foot, and the device is adjusted according to the size and length of the affected limb. When performing passive training of hip abduction and adduction training, the lower limbs are extended, and the corresponding motor 740 is started to drive the I-shaped gear to move inward and outward on the arc track to achieve hip abduction and adduction training. When performing power-assisted training, the motor is stopped, and the upper limbs pull the adduction and abduction training rope 630 to assist the device in moving on the arc track to achieve power-assisted training of hip abduction and adduction. When performing active training, only the left lower limb needs to be placed on the device of the utility model, and the left lower limb uses appropriate force to move inward and outward on the arc track to achieve active training of hip abduction and adduction. In this process, due to the setting of the elastic component, the ankle and toe joints can freely have plantar flexion and dorsiflexion movements.

Claims

1. A hip adduction and abduction training mechanism (600), comprising a base (100) and a flexion and extension bracket (200); the base (100) is mainly a linear guide rail (110), which is connected to a head end connector (120), and a linear groove (111) is provided on the linear guide rail along the length direction; the flexion and extension bracket (200) is composed of a thigh bracket (210), a calf bracket (220) and a foot bracket (230) which are rotatably connected in sequence; the outer end of the thigh bracket (210) is rotatably connected to the head end connector (120), and the bottom end of the foot bracket (230) is connected to a flexion and extension roller (231), and the flexion and extension roller (231) can reciprocate on the linear groove (111) to realize the reciprocating flexion and extension of the flexion and extension bracket above the base; characterized in that An arc track (610) is provided at the lower end of the linear guide rail (110), the arc of which is the same arc as the trajectory of a rotation with the base end as the center and the base length as the radius, and the inner concave surface of the arc is provided with meshing teeth (611); a gear (620) for inward and outward movement is rotatably connected vertically at a corresponding position at the lower end of the linear guide rail (110), and the gear (620) for inward and outward movement meshes with the meshing teeth (611); The adduction and abduction gear (620) has a rotatable core shaft (621), and two adduction and abduction training ropes (630) are respectively connected to both sides of the core shaft, or only one adduction and abduction training rope (630) is fixedly connected to both sides of the core shaft of the adduction and abduction gear (620) through and then extends along the linear guide rail (110) to the two sides of the head end connector (120) of the base and is detachably fixed thereto.

2. A hip adduction and abduction training mechanism according to claim 1, characterized in that: The inward and outward gear (620) is an I-shaped gear, with gears at the upper and lower ends and a core shaft (621) in the middle. Correspondingly, the meshing teeth are in two parallel rows. The I-shaped inward and outward gear (620) is clamped in the I-shaped groove (622) of the linear guide rail (110).

3. The hip adduction and abduction training mechanism according to claim 1, characterized in that: The ends of a pair of adduction and abduction training ropes (630) can be hung on the fixed positions or hanging rings (631) on both sides of the head end connector (120) of the base.

4. A hip joint adduction and abduction training mechanism according to claim 3, characterized in that: The head end connector (120) is also provided with a hook (125) for fixing the rope that has been pulled to a certain extent and needs to be positioned.

5. The hip adduction and abduction training mechanism according to claim 1, characterized in that: The middle portion of each of the adduction and abduction training ropes (630) passes through rope fixing tubes (160) set on both sides of the linear guide rail (110).

6. A hip joint adduction and abduction training mechanism according to any one of claims 1 to 5, characterized in that: A support plate (410) is provided outside the foot support plate (232) of the foot bracket (230), the lower end of the support plate (410) is hinged to the heel of the foot support plate (232), and an elastic component (420) is provided between the upper end of the support plate and the forefoot of the foot support plate (232).

7. The hip adduction and abduction training mechanism according to claim 6, characterized in that: An encapsulation shell (421) is used between the foot support plate (232) and the support plate (410) to encapsulate the elastic component (420).

8. The hip adduction and abduction training mechanism according to claim 6, characterized in that: The elastic component (420) is a spring or a hydraulic rod.

9. The hip adduction and abduction training mechanism according to claim 1, characterized in that: An electric control box (700) is connected to the end of the linear guide rail (110), which has a built-in power supply or can be connected to a power supply and is provided with a control display screen (701) and control buttons (702); an electric wire interface (703) extending from the electric control box is electrically connected to a circuit connector (113) at the lower hollow portion of the linear guide rail (110); and the electric control box (700) is plugged into the plug interface (112) on the linear guide rail (110) via a plug column (704).

10. The hip adduction and abduction training mechanism according to claim 9, characterized in that: The core shaft (621) of the adduction and abduction gear (620) is built with a fourth motor (740) for automatic adduction and abduction training; the fourth motor (740) is electrically connected to the electric control box for control.

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