Wrist carpometacarpal joint part motion positioning training component and training device

Abstract

The application relates to a wrist and palm joint part motion positioning training part and a training device, which comprises a connecting rod configured to be connected to the side of a sliding adjusting part of a rotating and translating mechanism, a lower supporting rotating shaft connected to the connecting rod, an upper binding belt arranged in an upper and lower interval mode with the lower supporting rotating shaft and used for fixing a hand back elastic cloth, the hand back elastic cloth used for positioning and fitting the hand back, and a finger sleeve ring arranged on the lower surface of the hand back elastic cloth and used for fixing fingers.

Description

Technical Field

[0001] This application relates to the field of surgical medical device technology, and in particular to a wrist and palm joint motion positioning training component and training device. Background Technology

[0002] After joint surgery, prolonged immobilization or rest in the hand can cause a series of pathological changes in the joint and surrounding tissues, leading to thickening and contracture of ligaments and joint capsules, joint degeneration, and stiffness and limited movement in the hand and wrist joints. In particular, after stroke or hemiplegia, due to damage to the brain nerves, more than 80% of patients will experience hemiplegia accompanied by spasticity, hypertonia, and other sequelae. Prolonged immobilization, or without active treatment, can lead to permanent hypertonia, joint contractures, and abnormal movement patterns in the fingers and wrist joints.

[0003] Currently, the main methods used to reduce hand joint stiffness, high muscle tone, and flexion contractures are physical therapist manual stretching (PT), continuous passive motion (CPM), and intelligent rehabilitation robot exercise training systems. However, these rehabilitation methods have significant drawbacks. Manual stretching relies heavily on the therapist's physical exertion, and traditional physical stretching is very strenuous. The duration, intensity, and rehabilitation strategies also depend on the therapist's experience and subjective feelings. CPM passive motion rehabilitation machines are mainly used in orthopedics to maintain joint mobility and prevent joint stiffness caused by swelling and hematoma after trauma or surgery. To ensure safety, CPM passive motion rehabilitation machines use a force-resistance operating mode. However, due to factors such as joint swelling and hematoma after trauma or surgery, they often encounter varying degrees of resistance during operation, resulting in a relatively small passive range of motion, and the limb usually cannot move at full angle. Intelligent exercise rehabilitation training systems typically use a primary / passive movement mode with active force and device assistance, generating repetitive combined limb movements, but cannot provide effective targeted passive stretching training for joints with high muscle tone or contractures.

[0004] The hand is the part of the human body with the most and most concentrated joints and the most complex physiological structure. Its functions are delicate, sensitive and complex, which makes the development of hand function rehabilitation robots relatively complicated. How to ensure the safety and effectiveness of hand training is an urgent problem to be solved. Utility Model Content

[0005] Therefore, it is necessary to provide a wrist and palm joint motion positioning training component and device that can simulate the natural motion trajectory of human hand joints for motion training, in order to address the above-mentioned technical problems.

[0006] This application provides a wrist-to-palm joint motion positioning training component for compound wrist-to-palm training, including:

[0007] The connecting rod is configured to be connected to the side of the sliding adjustment component of the rotation and translation mechanism;

[0008] The lower support shaft is connected to the connecting rod.

[0009] The upper strap is spaced vertically from the lower support shaft and is used to secure the elastic fabric on the back of the hand.

[0010] Elastic fabric for the back of the hand, used for positioning and fitting the back of the hand;

[0011] Finger loops, located on the underside of the elastic fabric on the back of the hand, are used to secure the fingers.

[0012] The wrist and palm joint motion positioning training component is also used for compound fist clenching training; it also includes a fixing strap connected to the end of the elastic cloth on the back of the hand near the fingers, for fixing the elastic cloth on the back of the hand to the lower support shaft.

[0013] A wrist and metacarpophalangeal joint exercise training device, comprising the aforementioned wrist and metacarpophalangeal joint motion positioning training component, and further comprising:

[0014] Bracket, used to support the forearm;

[0015] A rotary drive mechanism is used to provide rotary driving force;

[0016] A rotary translation mechanism is spaced apart from the bracket and detachably connected to the rotary transmission mechanism, so that it rotates by a preset first stage angle of 88°-92° under the driving action of the rotary transmission mechanism and reaches position A, forming a first stage arc trajectory.

[0017] Furthermore, the rotating translation mechanism has a sliding adjustment component on the side away from the bracket. When the rotating translation mechanism rotates beyond the preset first stage angle and is in the second stage, the sliding adjustment component is configured to be driven to translate in a direction close to the rotation axis of the rotating translation mechanism to form an involute trajectory and reach the position B of the second stage.

[0018] Among them, different trajectories are formed when the target hand joint performs different natural movements, and different trajectory envelopes form trajectory regions. The trajectory of the first stage and the trajectory of the second stage cover the trajectory regions.

[0019] The positioning training component is connected to the sliding adjustment component and is used for positioning training of the wrist and palm joint area.

[0020] A method for designing training trajectories for the wrist and metacarpophalangeal joints, comprising:

[0021] Record the trajectory formed by the natural movements of the wrist and metacarpophalangeal joints; the trajectory envelope formed by the various natural movements of the wrist and metacarpophalangeal joints forms the trajectory region.

[0022] In the first stage, the sliding adjustment component of the driving mechanism is rotated in space to a preset first stage angle of 88°-92°, generating an arc trajectory and reaching position A; then, in the second stage when the rotation angle exceeds the first stage angle, the sliding adjustment component is driven to move towards the direction closer to the rotation axis. The sliding adjustment component achieves a displacement along the rotation axis radially and gradually closer to the rotation axis. The displacement trajectory contracts along the base circle tangent to form an involute and reaches position B.

[0023] A wrist-palm joint exercise training method, used for wrist-palm compound exercises, the method comprising:

[0024] The forearm is placed on the bracket, and the connecting rod is connected to the side of the sliding adjustment component;

[0025] Place the wrist joint on the hand support bar beforehand; insert the fingers into the finger loops, position the elastic cloth on the back of the hand to fit the back of the hand, and insert the palm between the lower support pivot and the upper strap. The upper strap is fixedly connected and fitted to the elastic cloth on the back of the hand. At this time, the palm and back of the hand are clamped between the lower support pivot and the upper strap.

[0026] The rotary drive mechanism provides rotary driving force, which drives the rotary translation mechanism to rotate downward to the preset first stage angle a2. The upper strap pulls and presses from above and downward through the elastic cloth on the back of the hand bound to it, causing the back of the hand to flex forward to position A.

[0027] When the rotation exceeds the preset first stage angle, the sliding adjustment component is driven to rotate in space and translate along the direction close to the rotation axis to form an involute within the angle range b2. The upper strap pulls and presses down from above through the elastic cloth on the back of the hand bound to it, causing the back of the hand to flex forward to the second stage position B, so that the palm moves along the wrist-palm compound movement trajectory. At this time, the trajectory of the first stage and the trajectory of the second stage cover the trajectory area enclosed by the different trajectories formed during the natural wrist-palm compound movement.

[0028] It also includes: a rotary drive mechanism that provides rotary driving force, driving the rotary translation mechanism to rotate upward to -50°, and the lower support shaft adaptively rotating from below to squeeze and massage the fingers, and push the palm upward to perform a back extension movement.

[0029] In some embodiments, the range of a2 is 88°-92°, and the range of b2 is 48°-52°.

[0030] In some embodiments, it is also used for compound fist-clenching training; the method further includes:

[0031] The operating strap connects the wrist and palm glove to the lower support pivot.

[0032] The rotary drive mechanism provides rotary driving force, which drives the rotary translation mechanism to rotate downward to the preset first stage angle a2'. The upper strap and fixing strap push the palm to rotate from above, so that the fingers perform passive fist training and reach position A.

[0033] When the rotation exceeds a2', the sliding adjustment component is driven to rotate in space and translate along the direction close to the rotation axis to form an involute within the angle range b2'. The upper strap and fixing strap push the palm to rotate from above, causing the fingers to perform passive fist-clenching training, reaching the second stage position B, so that the palm moves along the fist-clenching trajectory; the trajectory of the first stage and the trajectory of the second stage cover the closed trajectory area enclosed by all the different trajectories formed during the natural fist-clenching action.

[0034] In some embodiments, the mechanism further includes: a rotary drive mechanism providing rotary drive force to drive the rotary translation mechanism to rotate upward to -30°, and a lower support shaft adaptively rotating from below to squeeze and massage the fingers, and push the fingers upward to perform a back extension movement.

[0035] In some embodiments, the range of a2' is 88°-92°, and the range of b2' is 170°-177°.

[0036] An automatic control method for a hand joint motion therapy system includes:

[0037] Obtain the type of the positioning training component, and match training format information based on the type of the positioning training component;

[0038] Switch the target exercise mode based on the exercise format information;

[0039] Based on the target motion mode, the rotary drive mechanism is activated to provide rotary driving force, and the sliding adjustment component is rotated at a preset first stage angle to form an arc trajectory;

[0040] And, after being driven to the preset first stage angle, the sliding adjustment component is controlled to rotate while translating in a direction close to the rotation axis, reaching the second stage position B to form an involute trajectory;

[0041] As the positioning training component moves along with the sliding adjustment component, it drives the hand joints that need to be exercised to move. The movement trajectory includes an arc in the first stage and an involute in the second stage.

[0042] The hand joint rehabilitation training robot of this invention strictly controls limb fixation, force points, and movement trajectories during use, ensuring that the passive joint movement curve conforms to the natural movement trajectory of the hand joint. For complex joint movements, it innovatively adopts a design concept that includes two stages in the force direction and movement trajectory, enabling the hand joint to bend to a normal fist-clenching angle, while ensuring patient comfort and painlessness throughout the entire process.

[0043] Early postoperative exercise training that conforms to the physiological curve allows patients to perform joint movements within a painless range, accelerating the recovery process. This avoids unnecessary medical accidents caused by exercise training that does not conform to the physiological curve, such as significant postoperative joint swelling, increased drainage, and in severe cases, loosening of the implanted prosthesis or wound dehiscence.

[0044] This invention, through its positioning training components that enable different training methods and the selection of different preset first-stage angles based on the target hand joint, can be used for various training methods such as wrist-palm compound training, compound fist training, and forearm training. It is flexible in use and highly functional. Attached Figure Description

[0045] Figure 1 This is a partial structural diagram of a postoperative hand joint movement therapy system provided in one embodiment of this application;

[0046] Figure 2 This is a three-dimensional view of a postoperative hand joint exercise therapy system for interphalangeal joint training provided in one embodiment of this application;

[0047] Figure 3 This is a schematic diagram illustrating the natural movement trajectory of finger joint flexion and extension; where, Figure 3 The consecutive diagrams a, 3b, and 3c illustrate the trajectory of joint movements sequentially from the distal interphalangeal joint, the proximal interphalangeal joint, to the metacarpophalangeal joint. Figure 3 The consecutive diagrams d, 3e, and 3f show the trajectory of joint movements as they proceed sequentially from the metacarpophalangeal joint, proximal interphalangeal joint, to the distal interphalangeal joint.

[0048] Figure 4 This is a schematic diagram of the motion trajectory of the rotary drive mechanism driving the sliding adjustment component when used for interphalangeal joint training.

[0049] Figure 5 This is a schematic diagram of a finger joint training glove;

[0050] Figure 6 This is a partial structural diagram of a positioning training component suitable for wrist-palm compound training exercises or compound fist-clenching training.

[0051] Figure 7 This is a front view of the postoperative hand joint exercise therapy system provided in one embodiment of the present application, used for wrist and palm compound training exercises or compound fist clenching training.

[0052] Figure 8 To and Figure 6 A schematic diagram of the structure of another positioning training component used in conjunction with one of the positioning training components;

[0053] Figure 9This is a diagram illustrating how the lower support pivot rotates from below to squeeze and massage the fingers, and pushes the palm upwards to perform a back extension movement.

[0054] Figure 10 This diagram illustrates how the upper strap, through the elastic fabric attached to the back of the hand, pulls downwards to apply pressure, causing the back of the hand to flex forward.

[0055] Figure 11 A trajectory diagram of a wrist-palm compound flexion-extension exercise for the hand.

[0056] Figure 12 A trajectory diagram of compound fist-clenching exercises for the hand;

[0057] Figure 13 This is a side view of the postoperative hand joint exercise therapy system for forearm training provided in one embodiment of this application;

[0058] Figure 14 This is a diagram illustrating internal and external pronation during forearm training exercises.

[0059] Figure 15 A comparison diagram of the usage status of the forearm training handle of this application and the training handle of the prior art;

[0060] Figure 16 This is a schematic diagram of a rotation and translation mechanism provided in one embodiment of this application; Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0062] To facilitate understanding of the invention, preferred embodiments are shown in the accompanying drawings, which include various specific details to aid this understanding, but these details should be considered merely exemplary. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Accordingly, those skilled in the art will recognize that variations and modifications can be made to the various embodiments described herein without departing from the scope of the invention as defined by the appended claims. Furthermore, descriptions of well-known functions and constructions may be omitted for clarity and brevity.

[0063] It will be apparent to those skilled in the art that the following description of various embodiments of the invention is provided for illustrative purposes only and is not intended to limit the invention as defined by the appended claims.

[0064] Hand flexion and extension include continuous movements of the metacarpophalangeal and interphalangeal joints, as well as movements of the wrist and metacarpophalangeal joints, thumb joints, forearm internal and external rotation, and radial and ulnar deviation of the palm. The inventors discovered that during hand joint training exercises, only a portion of the movements follow a standard circular trajectory. For different hand joints, the trajectory becomes non-standard when the joint reaches a certain angle. Adapting to the free movement trajectories of different joint parts presents a significant challenge to hand motor control.

[0065] To solve the above problems, refer to Figures 1-4 This application provides a postoperative hand joint movement therapy system, comprising:

[0066] Chassis 2;

[0067] Bracket 1 is used to support the forearm;

[0068] A rotary drive mechanism, located in the chassis, is used to provide rotary driving force;

[0069] The rotary translation mechanism 6a is spaced apart from the bracket 1 and connected to the rotary transmission mechanism, so that it rotates at a preset first stage angle α under the driving action of the rotary transmission mechanism and reaches position A, forming a first stage arc trajectory.

[0070] Furthermore, the rotating translation mechanism 6a has a sliding adjustment component 6a-1 on the side away from the bracket 1. When the rotating translation mechanism 6a rotates beyond the preset first stage angle α and is in the second stage, the sliding adjustment component 6a-1 is configured to be driven to translate in the direction close to the rotation axis 6a-2 of the rotating translation mechanism 6a to form an involute trajectory and reach the position B of the second stage.

[0071] The trajectory of the first stage and the trajectory of the second stage cover the trajectory envelope of the natural movement of the target hand joint.

[0072] The positioning training component 6b is detachably connected to the sliding adjustment component 6a-1 and is used for positioning training of various target hand joints that need to be exercised.

[0073] Specifically, target hand joints, such as wrist and metacarpophalangeal joints, form different natural motion trajectories when performing different movements. These different natural motion trajectories encompass a trajectory area. To cover the aforementioned trajectory area, this application designs a system motion trajectory, namely, the motion trajectory of the positioning training component 6b consists of two parts: an arc trajectory and an involute trajectory. In the first stage, with a preset first stage angle α, an arc motion is performed through rotation; in the second stage, the motion trajectory resembles an involute. This application includes two motion trajectory segments, the first stage and the second stage, which has been verified to theoretically approximate the natural trajectory of the joint. The designed motion trajectory can cover the trajectory area encompassed by all the natural motion trajectories formed by the target hand joints, such as finger joints, when performing different movements. That is, regardless of the patient's hand joint movement, the trajectory of this embodiment can cover the area, and it also ensures the safety of the connection between the device and the patient.

[0074] During operation, the forearm is placed on the bracket 1, and the joint to be exercised is placed on the positioning training component 6b. During forward motion training, the rotary drive mechanism is activated to provide rotary drive force, which drives the rotary translation mechanism 6a to rotate along the arc trajectory to the preset first stage angle α (e.g., 80°), reaching position A. When the rotation exceeds the preset first stage angle, it enters the second stage, which drives the sliding adjustment component 6a-1 on the rotary translation mechanism 6a to translate in the direction close to the rotation axis 6a-2 while rotating, reaching position B.

[0075] The rotation and translation mechanism 6a is a mechanism in the training component. The rotation and translation mechanism 6a itself can rotate around the rotation axis 6a-2 by a first stage angle α (e.g., 80°) to reach position A. When the rotation exceeds the preset first stage angle, the sliding adjustment component 6a-1 of the rotation and translation mechanism 6a is actively driven to rotate while sliding along the radial direction of the rotation axis 6a-2 toward the direction closer to the rotation axis 6a-2. The total movement trajectory includes two stages, which is conducive to corresponding and matching the natural flexion and extension movement trajectory of the human hand joint.

[0076] One end of the positioning training component 6b is mounted on the sliding adjustment component 6a-1 of the rotation and translation mechanism 6a, and the other end is connected to different joints of the patient, driving the patient's hand and wrist joints to perform continuous flexion and extension movements. The movement trajectory of the connected sliding adjustment component 6a-1 and the positioning training component 6b consists of two segments: a circular arc trajectory in the first stage and a composite movement trajectory in the second stage (wherein the composite movement trajectory in the second stage runs according to the trajectory of Archimedes' involute contraction), which is conducive to matching the theoretical natural movement trajectory of the joint.

[0077] The hand joint rehabilitation training robot of this invention strictly controls limb fixation, force points, and movement trajectories during use, ensuring that the passive joint movement curve conforms to the natural movement trajectory of the hand joint. For complex joint movements, it innovatively adopts a design concept that incorporates the direction of force and a two-stage trajectory, allowing the hand to bend to a normal angle, while ensuring patient comfort and painlessness throughout the entire process.

[0078] Early postoperative exercise training that conforms to the physiological curve allows patients to perform joint movements within a painless range, accelerating the recovery process. This avoids unnecessary medical accidents caused by exercise training that does not conform to the physiological curve, such as significant postoperative joint swelling, increased drainage, and in severe cases, loosening of the implanted prosthesis or wound dehiscence.

[0079] This invention combines a rotating translation mechanism 6a, a positioning training component 6b for exercising different joint parts, and a variable bracket 1 installation position. It also allows for the selection of different preset first-stage angles α based on the target hand joint parts. This invention can be used for various training methods, including wrist and palm compound training, compound fist clenching training, interphalangeal joint training, thumb joint training, forearm training, etc. It is flexible in use and highly functional.

[0080] For detailed training methods for different body parts, please see the following content.

[0081] Next, taking the finger joints as an example, this application will be described in detail: The applicant conducted a tracking study on the natural movement trajectory of finger joint flexion and extension, as detailed below. Figure 3 The movement trajectory of the training components needs to cover Figure 3 The area shown is secure, ensuring a safe connection with the patient. Taking a finger joint as an example, the flexion-extension of each hand joint consists of the combined movements of three joints: the distal interphalangeal joint A, the proximal interphalangeal joint B, and the metacarpophalangeal joint C. Due to differences in the location of the injury and the degree of stiffness, the order of rotation of the three joints varies, resulting in different fingertip movement trajectories. Figure 3 The continuous schematic diagrams a, 3b, and 3c represent the trajectory of the joint movements starting from 0° horizontally, sequentially from the distal interphalangeal joint, the proximal interphalangeal joint to the metacarpophalangeal joint, and record them to form trajectory line H. Trajectory line H consists of three arc segments, that is, each of the segments is an arc. Figure 3 The consecutive diagrams d, 3e, and 3f illustrate the trajectory of joint movements starting from a horizontal 0° angle and proceeding sequentially from the metacarpophalangeal joint, proximal interphalangeal joint, to the distal interphalangeal joint, forming trajectory line K. Trajectory line K consists of an arc and an involute. Besides the two types of movement mentioned above, the trajectories of other joint movements are all enclosed within the area bounded by trajectory lines H and K.

[0082] Therefore, a motion trajectory needs to be designed that can cover trajectory line H, trajectory line K, and all other trajectory forms enveloped by H and K. Specifically, the motion trajectory design of the positioning training component 6b is as follows: First, the applicant discovered through research that when used for thumb or interphalangeal joint training, the thumb or interphalangeal joint can rotate downwards from a horizontal position along a circular trajectory with a maximum rotation angle a1 (approximately 80°, 78°-82°). Therefore, in the first stage, the transmission rod 17 can be driven to rotate from 0° horizontally to a1, for example, 80° in space via the sliding adjustment component 6a-1 of the driving action mechanism 6a, generating a circular arc trajectory with a fixed radius. Figure 4 a) and reach position A; then, in the second stage when the rotation angle exceeds 80°, the sliding adjustment component 6a-1 is driven to move toward the direction closer to the rotation axis 6a-2. Based on Archimedes' involute principle, the sliding adjustment component 6a-1 achieves a displacement radially toward the rotation axis 6a-2 and gradually moves closer to the rotation axis 6a-2. Figure 4 b) The displacement trajectory contracts within an angle range b1 (98°-102°) along the tangent of the base circle. For example, after contracting by 100°, it reaches position B at 180°. The expansion and contraction of the involute trajectory can be achieved by resetting the elastic element. Figure 4 c shows the entire motion trajectory of the sliding adjustment component 6a-1 when the rotary drive mechanism drives it to rotate 180°.

[0083] This embodiment has the following advantages compared to the prior art:

[0084] (1) The motion trajectory of the positioning training component 6b consists of two parts: a circular arc trajectory and an involute trajectory. In the first stage within the rotation angle a1, circular arc motion is performed by rotation; when the rotation angle is greater than a1, the motion trajectory is similar to an involute. This application includes two motion trajectories, the first stage and the second stage, which theoretically approximate the natural trajectory of the joint. The designed motion trajectory can cover the range encompassed by the natural motion trajectory lines H and K in the above two extreme cases. That is, no matter how the patient's hand joint moves, the trajectory of the device in this embodiment can be covered, and the safety of the connection between the device and the patient can also be guaranteed. It is worth noting that the above content on tracking and recording the natural motion trajectory and the design trajectory of the training system is illustrated using the finger joint as an example. When other joints, such as the wrist and palm joints, are selected as the target hand joints, the above trajectory design concept is also applicable.

[0085] When used for thumb or interphalangeal joint training, the thumb or interphalangeal joint starts from a horizontal position and moves downwards. The applicant believes that the motion trajectory designed in this application consists of two segments: a circular arc trajectory and an involute trajectory. Following this trajectory theoretically helps to approximate the natural motion trajectory and physiological curve. Existing passive movements that do not conform to the physiological curve, and incorrect force direction, can interfere with the rolling-sliding of the joint, causing excessive load on the joint surfaces, compressing the articular cartilage, and even leading to postoperative joint swelling and increased drainage. In the long term, this can also cause damage to the joint surfaces. For joints with high joint surface congruence, it may also lead to symptoms such as joint swelling, ossification, and arthritis. This embodiment overcomes the above problems, helping to make the finger joint movements closer to the natural motion trajectory and reducing damage to the finger joints during training.

[0086] The device described in this application can effectively apply external force to stiff finger joints, simultaneously maintaining the flexion position of the proximal and distal interphalangeal joints, and gently stretching the metacarpophalangeal joints to straightness, resulting in significant training and rehabilitation effects.

[0087] Based on the above embodiments, the applicant further discovered that the natural physiological movement trajectory of actual hand joints is diverse, and although it is close to the standard movement trajectory of the sliding adjustment component 6a-1 as a whole, it is not synchronous. Therefore, in order to avoid the device restricting joint movement or even directly applying strong impact force to the joints during system operation, improve the effectiveness and safety of training movements, and enable the finger joints to always move along the natural physiological movement trajectory while bearing the driving force, refer to Figure 2 and Figure 5 In some embodiments, a positioning training component 6b is provided that better matches the natural movement trajectory of finger joints, specifically including:

[0088] An adjusting belt 72, wherein multiple connection points 72a are distributed along the length direction of the adjusting belt 72;

[0089] The finger sleeve 71 can be selectively connected to any connection point 72a on the adjustment band 72, and the finger sleeve 71 is slidably sleeved on the rotary position compensation drive rod 18;

[0090] The fixing strap 76 is used to fix the finger sleeve 71 to the connection point 72a;

[0091] The transmission rod 17 is fixedly connected to the side of the sliding adjustment component 6a-1 and is used to transmit rotational circular motion;

[0092] The rotary position compensation drive rod 18 is rotatably connected to the transmission rod 17 and is perpendicular to the axis of the rotation axis 6a-2 of the rotary support plate 37.

[0093] In this embodiment, the transmission rod 17 is a connector between the sliding adjustment component 6a-1 and the rotary position compensation drive rod 18, used to transmit the movement of the sliding adjustment component 6a-1 to the rotary position compensation drive rod 18, and then to the finger connected to the rotary position compensation drive rod 18.

[0094] In this embodiment, the rotary position compensation drive rod 18 can rotate freely 360° relative to the transmission rod 17; the finger sleeve 71 is used to connect the patient's finger and can slide freely along the rotary position compensation drive rod 18 to adapt to the continuous change in the distance between the finger sleeve 71 and the transmission rod 17 during movement. Through structural fit, it can adapt to changes in the spatial direction of the finger sleeve and the continuous change in the distance between the finger sleeve and the palm, thereby adapting to the continuous changes in the distance and direction of the fingertip to the palm during hand joint flexion and extension, ensuring the safety of the connection between the training component and the patient.

[0095] Specifically, such as Figure 4 d and Figure 2 , Figure 5 When used for thumb or interphalangeal joint training, the finger sleeve 71 is adjusted to the connection point 72a on the adjustment strap 72, which corresponds to the finger part to be trained; the finger sleeve 71 is fixed to the connection point using the fixing strap 76; the rotary position compensation drive rod 18 is passed through the finger sleeve 71 (the finger sleeve can slide along the rotary position compensation drive rod 18, which provides support and guidance for the sliding of the finger sleeve).

[0096] During training, taking 80° as an example, the palm joint is placed on the hand support rod 16, and the fingers are inserted into the finger sleeves 71. The rotary drive mechanism provides rotary drive force, which drives the rotary translation mechanism 6a to rotate 80° as a whole. When it exceeds 80°, the sliding adjustment component 6a-1 of the rotary translation mechanism 6a drives the transmission rod 17 to rotate in space and translate at a preset speed. At the same time, the rotary position compensation drive rod 18 and the finger sleeves 71 push the finger joint to move.

[0097] As mentioned above, the natural physiological movement trajectory of the hand joint is not synchronized with the standard movement trajectory of the sliding adjustment component 6a-1 as a whole. To avoid restricting joint movement or even directly applying strong impact force to the joint during system operation, and to ensure the effectiveness and safety of training movements, such as... Figure 4Figure e shows the initial state of the finger joint being driven by the sliding adjustment component 6a-1 to perform flexion and extension training movements. Since the finger sleeve 71 can slide freely along the rotational position compensation drive rod 18, and the rotational position compensation drive rod 18 can rotate flexibly relative to the transmission rod 17, when the finger joint is pushed by the sliding adjustment component 6a-1 to perform movements, the rotation of the rotational position compensation drive rod 18 and the sliding of the finger sleeve 71 form a buffer mechanism. This mechanism can compensate for the incomplete synchronization between the natural movement trajectory of the hand joint and the overall standard movement trajectory of the sliding adjustment component 6a-1 (the standard movement trajectory is constant). This ensures that the joint can still move according to its own physiological trajectory when being driven, and avoids the direct impact of the device on the joint during movement, thus ensuring the safety of the connection between the patient's body and the positioning training component 6b.

[0098] like Figure 4 Figure f shows a schematic diagram of the state changes of the interphalangeal joint being driven by the sliding adjustment component 6a-1 to perform flexion and extension training movements. During finger flexion and extension training, the spatial angle direction of the fingertip (finger sleeve 71) will change. At this time, the free and flexible rotation of the rotary position compensation drive rod 18 relative to the transmission rod 17 can serve as a buffer for direction adjustment, providing adaptive buffer compensation for the adjustment of the fingertip (finger sleeve 71) direction. Moreover, during finger flexion and extension training, the distance from the fingertip to the palm will also change uncertainly. At this time, the free sliding of the finger sleeve 71 along the rotary position compensation drive rod 18 can serve as a buffer for this distance adjustment, providing adaptive buffer compensation for the real-time change of the distance from the fingertip to the palm. This adjustment and compensation can then be adjusted to adapt to the formation of the actual physiological movement trajectory, achieving direction and distance compensation, so that the designed movement trajectory of the positioning training component 6b can adapt to the natural movement trajectory of all hand joints within the envelope range between H and K.

[0099] This embodiment has the following advantages compared to the prior art:

[0100] The design incorporates a mechanical linkage mechanism including a finger sleeve 71, an adjustment strap 72, a fixing strap 76, a rotary position compensation drive rod 18, and a transmission rod 17. Since the finger sleeve 71 can slide freely along the rotary position compensation drive rod 18, and the rotary position compensation drive rod 18 can rotate flexibly relative to the transmission rod 17, when the finger joint is pushed by the sliding adjustment component 6a-1 to perform an action, the rotation of the rotary position compensation drive rod 18 and the sliding of the finger sleeve 71 along the length of the rotary position compensation drive rod 18 form a buffer adaptation mechanism. This mechanism can compensate for and adjust when the natural movement trajectory of the hand joint is not completely synchronized with the overall standard movement trajectory of the sliding adjustment component 6a-1 (the standard movement trajectory is always constant). This ensures that the joint can still move freely according to its own physiological trajectory when forced to flex and extend, thereby avoiding direct impact from the device during joint movement and ensuring training comfort and the safety of the connection between the patient's body and the positioning training component 6b.

[0101] During training, the spatial angle of the fingertips and the distance from the fingertips to the palm undergo continuous and uncertain changes. The free sliding of the finger sleeve 71 along the rotational position compensation drive rod 18 provides adjustment support for these changes, offering adaptive buffering support to compensate for real-time variations in the fingertip-palm distance. Thus, the buffering mechanism, composed of rotation and sliding mechanisms, dynamically and adaptively connects and compensates with the device, helping to adapt to the flexible and continuous rotation of the fingers during hand flexion and extension, and the continuous changes in the fingertip-palm distance. This allows for dynamic adjustment when the natural physiological movement trajectory of the fingertips and hand joints is not perfectly synchronized with the movement trajectory of the training components, enabling flexible rotational changes of the hand joints during flexion and extension, and preventing injury to the patient.

[0102] Of course, the external force of the device in this application can effectively act on stiff finger joints, while maintaining the flexion position of the proximal and distal interphalangeal joints, and gently stretching the metacarpophalangeal joints to straighten them, resulting in significant training and rehabilitation effects.

[0103] refer to Figures 1-2 In some embodiments, when used for interphalangeal joint training, the length direction of the transmission rod 17 intersects with the sliding direction of the sliding adjustment component 6a-1;

[0104] There are two or more rotary position compensation drive rods 18, which are arranged at intervals along the length of the transmission rod 17, and each rotary position compensation drive rod 18 is rotatably connected to the transmission rod 17.

[0105] Specifically, there are two or more rotary position compensation drive rods 18 to accommodate multiple fingers. Each rotary position compensation drive rod 18 is rotatably connected to the transmission rod 17, and each rotary position compensation drive rod 18 is slidably fitted with a finger sleeve 71. Thus, multiple fingers can achieve the same training effect when performing interphalangeal joint training, and the comfort and safety of each finger can be guaranteed.

[0106] refer to Figure 5 In some embodiments, the positioning training component 6b further includes:

[0107] Palm block 74, connected to the adjustment belt, is used to position the palm.

[0108] The palm strap 73 is connected to the palm block 74 and is used to bind the palm to the palm block 74.

[0109] A wristband 75 is connected to the palm block 74 and is used to bind the wrist to the palm block 74.

[0110] Specifically, before training, the palm can be placed on the palm block 74. Since the palm block 74 is connected to the adjustment strap, the position of the palm can be positioned. The palm strap 73 and wrist strap 75 respectively bind the palm and wrist to the palm block 74, thus forming a finger joint training glove, which helps to ensure the stability of the hand position during training and avoids the hand slipping during exercise and causing safety accidents.

[0111] refer to Figures 1-2 In some embodiments, a scale disk 13 is also included, which is coaxially arranged with the rotating shaft 6a-2; the scale disk 13 has rotating scales 10 distributed around its surface, and multiple rotation limit switches 9 are provided on the circumference of the scale disk 13.

[0112] Specifically, the scale 10 is arranged around the scale disc 13 to intuitively display the angle of joint movement training; the rotation limit switch 9 can preset the rotation angle range according to different training parts, and control the reduction motor 23 to stop rotating when the preset first stage angle position is reached, so as to avoid excessive rotation and ensure safe use.

[0113] It is worth pointing out that, for reference Figure 1 When used for thumb joint training, one rotary position compensation drive rod 18 is sufficient. The training method is the same as the interphalangeal joint training method described above, except that the finger sleeve 71 is used to fix the thumb, and the rotary position compensation drive rod 18 and hand support rod 16 are designed to be shorter. During training, taking 80° as an example, the palm joint is placed on the hand support rod 16, the thumb is inserted into the finger sleeve 71, and the rotary drive mechanism provides rotary driving force, driving the rotary translation mechanism 6a to rotate 80° as a whole; when it exceeds 80°, the sliding adjustment component 6a-1 of the rotary translation mechanism 6a drives the transmission rod 17 to rotate in space and translate at a preset speed. At the same time, the rotary position compensation drive rod 18 and the finger sleeve 71 push the thumb joint to perform flexion and extension training movements. During this process, the finger sleeve 71 can adaptively slide along the rotary position compensation drive rod 18, and the rotary position compensation drive rod 18... The 8 can rotate flexibly in space relative to the transmission rod 17. Therefore, when the thumb joint is pushed by the sliding adjustment component 6a-1 to make a movement, the rotation of the rotational position compensation drive rod 18 and the sliding of the finger sleeve 71 form a buffer mechanism. It can compensate and adjust when the natural movement trajectory of the thumb joint is not completely synchronized with the standard movement trajectory of the sliding adjustment component 6a-1 (the standard movement trajectory is constant). This ensures that the joint can still move according to its own physiological trajectory when it is driven, and avoids the direct impact of the device when the joint moves, thus ensuring the safety of the connection between the patient's body and the positioning training component 6b.

[0114] During thumb flexion and extension training, the spatial angle of the fingertip (finger sleeve 71) will change. At this time, the free and flexible rotation of the rotary position compensation drive rod 18 relative to the transmission rod 17 can serve as a buffer for directional adjustment, providing adaptive buffer compensation for the adjustment of the thumb tip (finger sleeve 71) direction. Moreover, during thumb flexion and extension training, the distance from the thumb tip to the palm will also change uncertainly. At this time, the free sliding of the finger sleeve 71 along the rotary position compensation drive rod 18 can serve as a buffer for this distance adjustment, providing adaptive buffer compensation for the real-time change of the distance from the fingertip to the palm. This adjustment and compensation can then be adjusted to adapt to the formation of the actual physiological movement trajectory, achieving directional and distance compensation. This allows the designed movement trajectory of the positioning training component 6b to adapt to the natural movement trajectory of all hand joints within the envelope between H and K.

[0115] In addition, this embodiment can achieve at least the same effect as the above-described interphalangeal joint training, as detailed in the above description of interphalangeal joint training, which will not be repeated here.

[0116] refer to Figures 6-8 In some embodiments, the positioning training component 6b includes:

[0117] The connecting rod 51 is connected to the side of the sliding adjustment component 6a-1;

[0118] The lower support shaft 53 is connected to the connecting rod 51;

[0119] The upper strap 52 is spaced vertically from the lower support shaft 53 and is used to fix the elastic cloth 55 on the back of the hand.

[0120] 55 elastic fabric for the back of the hand, used for positioning and fitting the back of the hand;

[0121] Finger loops 57 are located on the lower surface of the elastic fabric 55 on the back of the hand and are used to fix the fingers.

[0122] Specifically, the wrist and palm gloves consist of upper straps 52, elastic fabric on the back of the hand 55, and finger loops 57.

[0123] Specifically, after disassembling the aforementioned positioning training component 6b for finger joints, the positioning training component 6b of this embodiment can be replaced, making it suitable for wrist-palm compound training exercises. It is detachably connected to the sliding adjustment component 6a-1. During wrist-palm compound training, first place the wrist joint on the hand support rod 16; insert the fingers into the finger loops 57, position the elastic cloth 55 on the back of the hand against the back of the hand, and insert the palm between the lower support pivot 53 and the upper strap 52. The upper strap 52 is fixedly connected and adhered to the elastic cloth 55 on the back of the hand. At this time, the palm and back of the hand are clamped between the lower support pivot 53 and the upper strap 52.

[0124] During exercise training, in the first stage, the rotary drive mechanism provides rotary driving force, causing the rotary translation mechanism 6a to rotate from -50° along an arc trajectory to a preset first-stage angle a2 (88°-92°), reaching position A; when the rotation exceeds the preset first-stage angle, it enters the second stage, driving the sliding adjustment component 6a-1 on the rotary translation mechanism 6a to drive the connecting rod 51 to rotate in space while translating in a direction close to the rotation axis 6a-2, the displacement trajectory contracting along the base circle tangent at an angle b2 (48°-52°) to reach position B. Specifically, as... Figure 9 and Figure 11 When the rotary drive mechanism rotates counterclockwise, the lower support shaft 53 adaptively rotates from below to squeeze and massage the fingers, and pushes the palm upward to perform a back extension movement (the back extension trajectory is an arc, with an angle of up to -50°); Figure 10 and Figure 11 When the rotary drive mechanism rotates clockwise, the upper strap 52 pulls and presses the back of the hand 55 bound to it from above, causing the back of the hand to flex (the flexion trajectory includes, for example, a 90° arc trajectory in the first stage and an involute trajectory in the second stage of 50°). In other words, this application uses the upper strap 52 and the lower support pivot 53 to push the palm from two directions to perform flexion and extension training exercises that match the natural trajectory of the wrist and palm compound movements.

[0125] The rotational translation mechanism 6a can rotate around the rotational center axis of the rotary drive mechanism in the first stage, and the sliding adjustment component 6a-1 of the rotational translation mechanism 6a can also slide radially along the rotational center axis of the rotary drive mechanism in the second stage. The total motion trajectory, which includes two stages, is conducive to matching the natural trajectory of the wrist and palm composite motion.

[0126] One end of the positioning training component 6b is mounted on the sliding adjustment component 6a-1 of the rotary arm drive translation and rotation mechanism 6a, and the other end is connected to the patient's flat palm, driving the patient's palm to perform continuous dorsiflexion and flexion movements. The movement trajectory of the connected sliding adjustment component 6a-1 and the positioning training component 6b consists of two segments: a first-stage arc and a second-stage composite movement trajectory (where the second-stage composite movement trajectory follows the trajectory of Archimedes' involute contraction), which helps to make the wrist and palm composite training movement approximate the theoretical natural movement trajectory.

[0127] The motion trajectory designed in this application includes two segments: a first stage and a second stage. Theoretically, it closely approximates the natural trajectory of a joint. The designed motion trajectory can cover the range of the natural motion trajectory envelope in all situations. That is, no matter how the patient's wrist and palm move, the trajectory of the device in this embodiment can cover it, and it can also ensure the safety of the connection between the device and the patient.

[0128] During use, this invention strictly controls limb fixation, the point of force application, and the trajectory of movement to ensure that the passive wrist-palm joint motion curve conforms to the natural movement trajectory of the hand joint. For complex wrist-palm joint movements, it innovatively adopts a design concept with the force direction following an Archimedes involute, allowing the hand to bend to a normal angle, while ensuring patient comfort and painlessness throughout the entire process.

[0129] The device described in this application can effectively apply external force to the stiff wrist and palm joint, simultaneously maintaining the joint in a flexed position and gently stretching the joint to a straight position, resulting in significant training and rehabilitation effects.

[0130] Early postoperative exercise training that conforms to the physiological curve allows patients to perform joint movements within a painless range, accelerating the recovery process. This avoids unnecessary medical accidents caused by exercise training that does not conform to the physiological curve, such as significant postoperative joint swelling, increased drainage, and in severe cases, loosening of the implanted prosthesis or wound dehiscence.

[0131] refer to Figure 8 In some embodiments, a fixing strap 58 is also included, connected to the end of the back of the hand elastic fabric 55 near the fingers, for fixing the back of the hand elastic fabric 55 to the lower support shaft 53.

[0132] Specifically, by combining the fixing strap 58, this embodiment can also achieve compound fist-clenching training. Specifically, during compound fist-clenching training, the fixing strap 58 is used to connect the wrist and palm glove to the lower support shaft 53. Since the palm is fixed between the lower support shaft 53 and the upper strap 52, when the rotary drive mechanism rotates counterclockwise, the lower support shaft 53 pushes the palm to rotate from below, which causes the fingers to perform passive extension movements. When the rotary drive mechanism rotates clockwise, the upper strap 52 and the fixing strap 58 push the palm to rotate from above, which causes the fingers to perform passive fist-clenching training.

[0133] During sports training, such as Figure 12 In the first stage, the rotary drive mechanism provides rotary driving force, which can drive the rotary translation mechanism 6a to rotate from -30° along an arc trajectory to a preset first stage angle a2' (88°-92°), reaching position A; when the rotation exceeds the preset first stage angle, it enters the second stage, driving the sliding adjustment component 6a-1 on the rotary translation mechanism 6a to drive the connecting rod 51 to rotate in space while translating in a direction close to the rotation axis 6a-2. The displacement trajectory contracts along the tangent of the base circle to form an involute, and the movement angle range is b2' (170°-175°), reaching position B. Specifically, as Figure 12 When the rotary drive mechanism rotates counterclockwise, the lower support shaft 53 adaptively rotates from below to squeeze and massage the fingers, and pushes the fingers upward to perform a back extension movement (the back extension trajectory is an arc, with an angle up to -30°); Figure 12When the rotary drive mechanism rotates clockwise, the upper strap 52 pulls and applies pressure from above to the back of the hand 55, which is bound to it, causing the hand to flex forward and clench into a fist (the flexion trajectory is as follows). Figure 12 It can include a 90° circular arc trajectory and a second stage of 175° involute trajectory. That is, this application uses the upper strap 52 and the lower support pivot 53 to push the fingers from two directions to perform flexion and extension training exercises that match the natural trajectory of the fist clenching and finger extension movements.

[0134] One end of the positioning training component 6b is mounted on the sliding adjustment component 6a-1 of the rotary arm drive translation and rotation mechanism 6a, and the other end is connected to the patient's flat palm, which drives the patient's fingers to make a fist and extend their fingers. The movement trajectory of the connected sliding adjustment component 6a-1 and the positioning training component 6b consists of two segments: a first-stage arc and a second-stage composite movement trajectory (where the second-stage composite movement trajectory runs according to the Archimedes involute contraction trajectory), so that the trajectory of the fist and finger extension training movement approximates the theoretical natural movement trajectory.

[0135] The motion trajectory designed in this application includes two segments: a first stage and a second stage. Theoretically, it closely approximates the natural trajectory of a joint. The designed motion trajectory can cover the range of the natural motion trajectory envelope in all situations. That is, no matter how the patient clenches their fist and extends their fingers, the trajectory of the device in this embodiment can cover it, and it can also ensure the safety of the connection between the device and the patient.

[0136] During use, this invention strictly controls limb fixation, the point of force application, and the trajectory of movement to ensure that the passive movement curve of clenching the fist and extending the fingers conforms to the natural movement trajectory of the hand joints. For the complex clenching and extending of the fist joints, it innovatively adopts a design concept with the force direction following the Archimedes involute, allowing the palm to bend to a normal angle, while ensuring patient comfort and painlessness throughout the entire process.

[0137] The device described in this application can effectively apply external force to stiff joints, simultaneously maintaining a clenched fist flexion position and gently stretching the joint to straightness, resulting in significant training and rehabilitation effects.

[0138] refer to Figure 9 In some embodiments, the lower support pivot 53 is coaxially fitted with a soft sleeve. The soft sleeve is made of a resilient material, which can provide cushioning for the palm and improve comfort.

[0139] refer to Figure 8 In some embodiments, the positioning training component 6b further includes:

[0140] A wrist strap 56 is connected to the elastic fabric 55 on the back of the hand and is used to bind the wrist to the elastic fabric 55 on the back of the hand.

[0141] Specifically, before training, wristbands 56 can be used to bind the wrist to the elastic cloth 55 on the back of the hand, which helps to ensure the stability of the hand position during training and avoids the hand slipping and causing safety accidents.

[0142] refer to Figures 13-14 In some embodiments, the base 11 further includes a plug-in interface located below the rotating shaft 6a-2 for inserting the bottom support rod 1d and making the central axis of the bracket 1 parallel to the rotating shaft 6a-2;

[0143] It also includes a forearm training handle 6c, which is connected to the rotary drive mechanism; the forearm training handle 6c includes a bracket, a rotating handshake 6c-2 and a strap 6c-3. The bracket is connected to the rotary drive mechanism and includes a long side 6c-1 and a short side 6c-4. The two ends of the rotating shaft 6c-2 are respectively connected to the ends of the long side 6c-1 and the short side 6c-4. The strap 6c-3 fits against the back of the hand and cooperates with the rotating handshake 6c-2 to fix the hand. The short side 6c-4 is configured near the web of the hand.

[0144] Specifically, the forearm training handle 6c is connected to the rotary drive mechanism, and the bottom support rod 1d is then inserted into the connector. At this time, the central axis of the bracket 1 is parallel to the rotation axis 6a-2. The forearm is placed on the bracket 1, and the forearm training handle 6c is held. After the rotary drive mechanism is activated, it provides rotary driving force, causing the forearm training handle 6c to rotate. The thumb at the base of the hand is positioned on the short side, and the training hand grips the rotation axis 6C-2. The strap 6C-3 is tightened. When the rotary drive mechanism rotates, the rotation axis 6C-2 rotates, thereby pushing the entire palm for external rotation training. When the rotary drive mechanism rotates in the opposite direction, the strap 6C-3 pushes the back of the hand for internal rotation training. This expands the functionality of this application and can be applied to the training of more arm joints.

[0145] refer to Figure 14 After the training hand grips the rotation axis 6c-2 of the forearm training handle 6c, compared to the rotation axis 6d-1 of the existing training handle 6d, the short side 6c-4 is configured closer to the web of the hand, and the entire rotation axis 6c-2 is closer to the center of the palm. During forearm supination training, the rotation axis 6c-2 can act on the entire metacarpal bone, thereby effectively pushing the entire palm for training.

[0146] This application also provides an automatic control method for a postoperative hand joint motion therapy system, including:

[0147] The system acquires information about the target hand joint that needs to be trained. For example, by placing an image sensor or other device on the side of the system, it collects image information of the positioning training component (such as a wrist and palm joint motion positioning training component with or without a fixing strap) and compares it with the images stored in the system to automatically identify the type of positioning training component and the corresponding form of training (such as confirming whether it is a wrist and palm compound training or a compound fist clenching training).

[0148] The target movement mode (e.g., wrist-palm compound training mode or compound fist training mode) is automatically switched based on the form of the exercise. The target movement mode has pre-stored specific parameter values ​​for the first stage angle α, movement speed and position A and position B. Different target movement modes correspond to the corresponding positioning training components and target hand joints.

[0149] Based on the target motion mode, the rotary drive mechanism is activated to provide rotary driving force, and the sliding adjustment component 6a-1 is rotated by a preset first stage angle α to form an arc trajectory.

[0150] And, after being driven to reach the preset first stage angle α, the sliding adjustment component 6a-1 is controlled to rotate while translating along the direction close to the rotation axis 6a-2, reaching the second stage position B to form an involute trajectory.

[0151] As the positioning training component 6b moves along with the sliding adjustment component 6a-1, it drives the hand joints that need to be exercised to move. The movement trajectory includes an arc in the first stage and an involute in the second stage.

[0152] refer to Figure 16 In some embodiments, the rotation and translation mechanism 6a includes:

[0153] The collar 33 is sleeved on the rotary drive mechanism and can rotate with the rotary drive mechanism;

[0154] The hand support rod 16 is connected to the bushing via the swing disk 4 and rotates with the bushing to support the hand;

[0155] The rotating support plate 37 is connected to the collar 33;

[0156] The sliding adjustment component 6a-1 is slidably connected to the surface of the rotating support plate 37 and is driven to slide relative to the surface of the rotating support plate 37. The sliding direction of the sliding adjustment component 6a-1 is perpendicular to the axial direction of the rotation axis 6a-2 of the rotating support plate 37.

[0157] Elastic element 35 is connected between the end of the rotating support plate 37 near the bracket 1 and the sliding adjustment member 6a-1, and is configured to be compressed and store potential energy when the sliding adjustment member 6a-1 moves.

[0158] Specifically, the hand support rod 16 is used to support the hand during training to prevent limb injury due to unstable hand position during training.

[0159] Place the forearm on the bracket 1 and the palm on the hand support rod 16. Place the joint to be exercised on the positioning training component 6b. After the rotary drive mechanism is activated, it provides rotary driving force, which drives the hand support rod 16, the rotating support plate 37, and the sliding adjustment component 6a-1 to rotate through the collar 33. When the angle exceeds the preset first stage angle α, the power device drives the sliding adjustment component 6a-1 to translate in the direction close to the rotation axis 6a-2 (in the radial direction of the rotation axis 6a-2) while rotating. The sliding adjustment component 6a-1 undergoes a compound motion and generates an Archimedean involute trajectory. The positioning training component 6b is installed on the sliding adjustment component 6a-1, and the other end is connected to a specific part of the patient's hand, which can drive the different joints of the patient's hand to perform continuous flexion and extension movements.

[0160] The elastic element 35 stores force and has a tendency to rebound during the movement of the sliding adjustment component 6a-1, which helps to promote the reciprocating motion of the joint in both directions. Furthermore, the elastic element 35 resets, thus enabling the expansion and contraction of the movement trajectory.

[0161] refer to Figure 16 In some embodiments, the rotation and translation mechanism 6a further includes a guide limiting rod 34, the length direction of which is perpendicular to the axial direction of the rotation axis 6a-2 of the rotation support plate, and the sliding adjustment component 6a-1 is sleeved on the guide limiting rod 34; the elastic element 35 is sleeved on the guide limiting rod 34, and the two ends of the elastic element 35 abut against the end of the rotation support plate 37 near the bracket 1 and the sliding adjustment component 6a-1, respectively.

[0162] Specifically, the guide limit rod 34 is used to guide the translation of the sliding adjustment component 6a-1 and the deformation direction of the elastic element 35, so as to avoid the reduction of the movement effect or even the creation of safety hazards due to the skewed movement direction of the sliding adjustment component 6a-1 during the movement.

[0163] refer to Figure 16 In some embodiments, the rotation and translation mechanism 6a further includes a cable 38 connecting the collar and the sliding adjustment component 6a-1. The cable 38 can limit the sliding adjustment component 6a-1, preventing it from moving excessively away from the rotation axis 6a-2 and increasing safety risks.

[0164] refer to Figure 16 In some embodiments, the sliding adjustment component 6a-1 includes:

[0165] The movable body 36 is slidably connected to the surface of the rotating support plate 37 via a guide rail, and the sliding direction of the movable body 36 is perpendicular to the axis of the rotating shaft 6a-2;

[0166] The motion connection platform 14 is fixedly connected to the moving body 36 by bolts, and the motion connection platform 14 is provided with a connection hole 14a for connecting the positioning training component 6b.

[0167] Specifically, the motion connection platform 14 and the moving body 36 are fixedly connected by bolts, which makes it easy to replace the motion connection platform 14 of different specifications to meet the training needs of patients with different physiques; the motion connection platform 14 may be provided with connection holes 14a at the ends near the rotation axis 6a-2 and away from the rotation axis 6a-2, respectively, for connecting different types of positioning training components 6b at different positions.

[0168] In some embodiments, the rotary drive mechanism includes:

[0169] Gear motor;

[0170] The rotary output shaft is connected to the main shaft of the geared motor via a bushing and is mounted on the chassis via bearings.

[0171] Specifically, the control unit can process control signals such as angle range and running speed into output execution signals for the geared motor, which is the actuator for the angle range and average angular velocity. The main shaft of the geared motor is connected to the rotary output shaft through a bushing, and the rotary output shaft is connected to the rotary translation mechanism 6a. Thus, when the geared motor starts, it can drive the rotary output shaft and the rotary translation mechanism 6a to rotate, thereby achieving rotary motion control.

[0172] In some embodiments, a limiting rod is fixedly connected to the outer circumference of the bushing. This is used to prevent the bushing, the rotary output shaft, and the rotary translation mechanism from rotating excessively, thereby avoiding safety accidents.

[0173] refer to Figure 2In some embodiments, a touch unit 2a is also included, connected to the rotary drive mechanism, and the touch unit 2a stores control parameters. System control parameters are input through the HMI touch unit 2a, such as preset first-stage angle α, running speed, safety protection level, and extended parameters corresponding to different training areas. Different positioning training components 6b are components that directly contact the patient, and their movement trajectories simulate the natural flexion and extension trajectories of human hand and wrist joints. Therefore, they need to be set within a safe range of motion to safely drive the patient's metacarpophalangeal joints, wrist joints, and wrist-palm composite passive movements.

[0174] The translation of the sliding adjustment component 6a-1 can be driven by a power drive component connected to it, including but not limited to electric or hydraulic rods.

[0175] refer to Figure 1 In some embodiments, the bracket 1 includes:

[0176] Base 11;

[0177] The bottom support rod 1d is movably connected to the base 11 via connecting bolt 1c;

[0178] The telescopic support rod 1f is hinged to the bottom support rod 1d through the gear meshing point 1e;

[0179] The tray 1a is hinged to the telescopic support rod 1f via a gear engagement point 1b.

[0180] Specifically, the vertical tilt angle of the tray 1a can be adjusted by adjusting the gear meshing point 1b, the tilt angle of the telescopic support rod 1f can be changed by adjusting the gear meshing point 1e, thereby changing the height of the tray 1a, and the spatial distance between the tray 1a and the rotation and translation mechanism 6a can be adjusted by adjusting the telescopic support rod 1f. Thus, the position of the bracket 1 can be adjusted according to the length of the patient's arm, so that the patient is in the most comfortable state when connected to the equipment.

[0181] Throughout the specification and claims of this application, the words “comprising” and “including,” as well as variations thereof, such as “comprising of” and “including,” mean “including but not limited to,” and are not intended to exclude other components, elements, or steps. Features, elements, or characteristics described in connection with a particular aspect, embodiment, or example of the invention are to be understood as applicable to any other aspect, embodiment, or example described herein, unless incompatible therewith.

[0182] It should be understood that the singular forms “a,” “an,” and “the” include plural references unless the context explicitly specifies otherwise. The expressions “comprising” and / or “may comprise” as used in this invention are intended to indicate the presence of a corresponding function, operation, or element, and are not intended to limit the presence of one or more functions, operations, and / or elements. Furthermore, in this invention, the terms “comprising” and / or “having” are intended to indicate the presence of the features, quantities, operations, elements, and components disclosed in the applications, or combinations thereof. Therefore, the terms “comprising” and / or “having” should be understood as implying the additional possibility of one or more other features, quantities, operations, elements, and components, or combinations thereof.

[0183] In this invention, the expression "or" includes any or all combinations of the words listed together. For example, "A or B" can include either A or B, or it can include both A and B.

[0184] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms (such as those defined in common dictionaries) should be interpreted as having the meaning consistent with the relevant field and the context of this specification, and should not be interpreted in an idealized or overly formal sense unless expressly defined herein. The term “and / or” as used herein includes any and all combinations of one or more of the associated listed items.

[0185] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A wrist and palm joint motion positioning training component, characterized in that, include: The connecting rod is configured to be connected to the side of the sliding adjustment component of the rotation and translation mechanism; The lower support shaft is connected to the connecting rod. The upper strap is spaced vertically from the lower support shaft and is used to secure the elastic fabric on the back of the hand. Elastic fabric for the back of the hand, used for positioning and fitting the back of the hand; Finger loops, located on the underside of the elastic fabric on the back of the hand, are used to secure the fingers.

2. The wrist and palm joint motion positioning training component according to claim 1, characterized in that, The wrist and palm joint motion positioning training component is also used for compound fist clenching training; it also includes a fixing strap connected to the end of the elastic cloth on the back of the hand near the fingers, for fixing the elastic cloth on the back of the hand to the lower support shaft.

3. The wrist and palm joint motion positioning training component according to claim 1, characterized in that, The lower support shaft is coaxially fitted with a soft sleeve.

4. The wrist and palm joint motion positioning training component according to claim 1, characterized in that, The positioning training component further includes: A wrist strap, connected to the elastic fabric on the back of the hand, is used to bind the wrist to the elastic fabric on the back of the hand.

5. A wrist and palm joint motion positioning training device, characterized in that, Including the wrist-to-palm joint motion positioning training component as described in any one of claims 1-4, further comprising: Bracket, used to support the forearm; A rotary drive mechanism is used to provide rotary driving force; A rotary translation mechanism is spaced apart from the bracket and connected to the rotary transmission mechanism. Under the driving action of the rotary transmission mechanism, it rotates by a preset first stage angle of 88°-92° and reaches position A, forming a circular arc trajectory of the first stage. Furthermore, the rotating translation mechanism has a sliding adjustment component on the side away from the bracket. When the rotating translation mechanism rotates beyond the preset first stage angle and is in the second stage, the sliding adjustment component is configured to be driven to translate in a direction close to the rotation axis of the rotating translation mechanism to form an involute trajectory and reach the position B of the second stage. Among them, different trajectories are formed when the target hand joint performs different natural movements, and different trajectory envelopes form trajectory regions. The trajectory of the first stage and the trajectory of the second stage cover the trajectory regions. The positioning training component is connected to the sliding adjustment component and is used for positioning training of the wrist and palm joint area.

6. The wrist and palm joint exercise training device according to claim 5, characterized in that, in, When used for wrist and palm compound training, in the first stage, the rotary drive mechanism provides rotary drive force, which drives the rotary translation mechanism to rotate along the arc trajectory to the preset first stage angle of 88°-92°, reaching position A; When the rotation exceeds the preset first stage angle, it enters the second stage, which drives the sliding adjustment component on the rotation translation mechanism to rotate the connecting rod in space while translating it in a direction close to the rotation axis. The displacement trajectory shrinks along the base circle tangent at an angle of 48°-52° to reach position B.

7. The wrist and palm joint exercise training device according to claim 5, characterized in that, in, When used for compound fist training, in the first stage, the rotary drive mechanism provides rotary drive force, which can drive the rotary translation mechanism to rotate from -30° along an arc trajectory to the preset first stage angle of 88°-92°, reaching position A; When the rotation exceeds the preset first stage angle, it enters the second stage, which drives the sliding adjustment component on the rotation translation mechanism to rotate the connecting rod in space while translating it in a direction close to the rotation axis. The displacement trajectory shrinks along the base circle tangent within an angle range of 170°-177° to reach position B.

8. The wrist and palm joint exercise training device according to claim 5, characterized in that, The base of the bracket also includes a connector located below the rotating shaft for inserting the bottom support rod, and for making the central axis of the bracket parallel to the rotating shaft. It also includes a forearm training handle connected to the rotary drive mechanism; the forearm training handle includes a bracket, a rotating hand shaft and a strap, the bracket is connected to the rotary drive mechanism and includes a long side and a short side; the two ends of the rotating shaft are respectively connected to the end of the long side and the end of the short side, the strap fits against the back of the hand and cooperates with the rotating hand shaft to fix the hand, and the short side is configured close to the web of the hand.

Images