Orthopedic joint device

Abstract

An orthopedic joint device having an upper part and a lower part between which a joint is formed, wherein: the joint defines at least two swivel axes that are not parallel to each other and at least one restoring element is fastened to the upper part and the lower part; and the restoring element has an elastic element which exerts a restoring force in the direction of an initial position when the upper part is swiveled relative to the lower part from the initial position.

Description

[0001] Orthopaedic joint device

[0002] The invention relates to an orthopaedic joint device with an upper part and a lower part, between which a joint is formed.

[0003] An orthopedic joint device is, in particular, an articulated connection between an upper and lower part of prostheses, orthoses, and exoskeletons. In addition to providing the ability to move the upper and lower parts relative to each other and to pivot the upper part relative to the lower part, the joint device also serves to hold the upper part to the lower part, thus maintaining a geometric relationship between the upper and lower parts.

[0004] Orthopedic joint devices can be constructed in different ways. A comparatively simple design provides for the upper part to be pivotally attached to the lower part via a rigid axis. This type of design is found, for example, in single-axis prosthetic knee joints or orthoses. In so-called multi-link joints, such as prosthetic knee joints with four or more joint components that are articulated to one another via four or more axes, pivoting of the upper part relative to the lower part about a single pivot axis is also possible. However, this pivot axis is non-stationary and moves along a path during pivoting. The upper part has only one rotational degree of freedom relative to the lower part and moves, for example, on a circular path, thus providing two translational degrees of freedom.A simple single-axis joint has only one rotational degree of freedom, but no translational degree of freedom. EP 1 962 734 B1 discloses a prosthetic knee joint with a chassis attached to a mounting plate. The mounting plate is mounted on a coupling element for pivoting about a pivot axis. The coupling element, in turn, is attached to a housing. A spring element is arranged between the mounting plate and the coupling element, which provides a restoring force upon deflection about the rotation axis. The housing can also be mounted for rotation about a second axis that runs perpendicular to the longitudinal extent of a forearm. The prosthetic hand thus has two joint devices, one between the mounting plate and the coupling element, and one between the housing and the forearm shaft. Rotations about the two pivot axes can be locked by separate locking devices.In an unlocked state, flexion and extension against a counterforce and rotation around the longitudinal axis of the forearm shaft without counterforce are possible.

[0005] The object of the present invention is to provide an orthopaedic joint device with which an improved natural appearance can be achieved.

[0006] This object is achieved by an orthopedic joint device having the features of the independent claim. Advantageous embodiments and further developments of the invention are disclosed in the dependent claims, the description, and the figures.

[0007] The orthopedic joint device with an upper part and a lower part, between which a joint is formed, provides that the joint forms at least two pivot axes that are not oriented parallel to one another and that at least one return element is fastened to the upper part and the lower part, wherein the return element has an elastic element that exerts a return force towards the initial position when the upper part is pivoted relative to the lower part from an initial position. The joint is formed between the two directly associated components, namely the upper part and the lower part, and by the two associated components and has two pivot axes about which the upper part can be pivoted relative to the lower part.These two pivot axes are not oriented parallel to each other and can be designed in one embodiment such that the two pivot axes intersect. The joint device has at least one return element, which is preferably elastic or has at least one elastic component or element, wherein the return element is attached to both the upper part and the lower part. Attachment to an upper part and the lower part makes it possible to transmit forces between the upper part and the lower part via the return element.When the upper part is pivoted relative to the lower part from an initial position, in which the upper part is advantageously held relative to the lower part by the return element, a return force is exerted in the direction of the initial position when the return element is elongated by the elastic element, so that when an external force is removed, the initial position is resumed. With such a design, it is possible for the upper part to pivot relative to the lower part about two pivot axes without having to move additional components and to move it back to the initial position. So that in the case of a wrist, for example, not only palmar flexion and dorsal extension can take place, but also radial abduction and ulnar abduction. For example, movements around both a dorsopalmar axis and a radioulnar axis are possible.In an ankle joint, simultaneous plantar flexion or dorsiflexion along with supination or pronation would be possible. In principle, it is also possible to provide the joint with more than two pivot axes.

[0008] In one embodiment, the joint has a joint head and a joint socket, which, for example, lie directly against one another. An intermediate element can also be arranged in the joint gap between the joint socket and the joint head, for example to reduce friction, to dampen shocks and / or to compensate for surface inaccuracies. The joint can be designed as a ball joint or ellipsoidal joint. With a ball joint, three pivot axes or three rotational degrees of freedom can be achieved, which enable free rotational mobility of the upper part relative to the lower part. The rotational restrictions are then implemented via the restoring forces applied by the restoring element or elements, whereby different levels of restoring forces can be provided in order to achieve different levels of stability and resistance to the respective pivoting movement about the respective axis.In one embodiment, the joint is designed as an ellipsoid joint or a so-called egg-shaped joint, in which one rotational degree of freedom is blocked or, due to the design of the joint socket and the joint head and the holding force of the return element that presses the joint head into the joint socket, pivoting about a third rotational degree of freedom is made more difficult. With a barrel-shaped design of the joint head and the joint socket in a prosthetic wrist, dorsal extension and palmar flexion would be possible, as would radial abduction and ulnar abduction; pronation or supination of the hand relative to the forearm would not be possible. With a very flat design of the joint socket or when high forces are applied, supination or pronation of a prosthetic wrist would, however, be possible in principle with an appropriate design of the return elements.If necessary, the condyle will then be lifted from the acetabulum, or an otherwise planar or linear load on the condyle and acetabulum would be removed. However, supination or pronation in the joint occurs under difficult structural conditions.

[0009] In one embodiment, the pivot axes of the joint are oriented perpendicular to each other, allowing for simple combined movement around the two pivot axes. The pivot axes do not have to intersect; in an ellipsoidal joint, the two radii around the axes can be different. In a ball and socket joint, all three possible pivot axes are perpendicular to each other and intersect at the center of the sphere, which is defined by the spherical cap or the spherical segment of the joint head or socket.

[0010] In one embodiment, the joint has one translational degree of freedom, in particular exactly one translational degree of freedom, so that the joint gap between the joint head and the joint socket can increase, but a displacement in the other two translational degrees of freedom is prevented or at least made more difficult. The joint socket can then be lifted off the joint head if no holding forces are acting, for example due to the return elements, but a displacement in the other two directions is not possible. This gives the joint increased stability. In principle, it is also possible for the joint socket to be mounted so that it can move translationally in one or more other planes relative to the joint head.with a correspondingly low preload of the return element or the elastic part of the return element which allows a combined translational movement in several planes or directions.

[0011] In one embodiment, a plurality of return elements with one or more elastic elements formed or arranged thereon are fastened to the upper part and the lower part and arranged to act in different, in particular opposite, directions. In a wrist, return elements are arranged, for example, palmarly and dorsally in order to apply a return force to dorsal extension and palmar flexion. To enable radial abduction and ulnar abduction and simultaneously achieve a return to an initial position, return elements are arranged, for example, medially and laterally between the upper part and the lower part. A corresponding arrangement occurs in an ankle joint with return elements to counter plantar flexion and dorsal flexion as well as supination and pronation.It is also possible to provide only one return element for each of the different pivot axes, which can be loaded in both the tensile and compressive directions and provide corresponding return forces, for example by means of tension-compression springs, elastomer elements or the like.

[0012] In one embodiment, the return element or elements are designed as a tension element, belt, band or elastomer or have at least one elastic component. The elastic component can, for example, be an elastic belt section, an elastic band section or a spring arranged on or in the return element. In addition, the return element has at least one rigid, flexible component, which is preferably arranged or formed in the distal region of the return element. The rigid, flexible component can also extend over the entire length of the return element and be arranged or activated parallel to it. If the rigid component is fixed relative to the upper part and the lower part, a displacement of the lower part relative to the upper part, which would cause a steering of the rigid component, is prevented.For example, if two rigid components opposite a pivot axis are fixed in a stretched or tensioned position, the lower part cannot pivot relative to the upper part about this pivot axis. If only one rigid component is fixed, pivoting is possible in a direction that causes the rigid component to shorten or compress. The pivoting can also be blocked by maximum preload of the elastic component or the elastic region or elastic return element, at which point no elastic deformation of the return element is possible without destroying the return element.

[0013] The return element itself does not have to be exclusively elastic; it can also be coupled with an elastic component or an elastic element. An elastic return element makes it possible to set a preload and also secure the upper part to the lower part. The higher the preload force, the greater the return force for the same deflection around the corresponding pivot axis.

[0014] In one embodiment, the return element is detachably attached to the upper part and / or the lower part, which makes it easy, for example, to remove the upper part from the lower part or to apply different return forces or

[0015] To adjust preloads or to replace a return element in case of wear.

[0016] In one embodiment, the return element or elements are assigned an adjustment device for adjusting the return force. The adjustment of the return force can be achieved, for example, by the adjustment device being mounted so that it can be moved and fixed on the return element, the upper part and / or the lower part. The adjustment device can be used to shorten or lengthen the effective length, for example of an elastic strap or an elastic band. By moving an attachment point on the upper part and / or the lower part, an elastic component or a spring can, for example, be stretched or relaxed in order to achieve different return forces. If several adjustment elements are present, each one can be set and adjusted individually in order to adapt the orthopedic joint device to different situations and / or different users.

[0017] The adjustment device can be mounted on the upper part and / or the lower part so that it can be moved in discrete steps or continuously. Continuous displacement enables finer and more individual adjustment than adjustment in discrete steps, but can require greater design effort or increased motor skills on the part of the user. An elastic band or a strap with an elastic component can have a form-fitting element, for example a hook, which engages with a correspondingly designed form-fitting element, for example a projection or a hole in the upper part or lower part. The return element or a component connected to it can, for example, be part of a hook-and-loop fastener, which can be individually adjusted and fixed at a corresponding point on the upper part and / or the lower part.The adjustment device can, for example, also be designed as a slider which is mounted on the return element, the upper part and / or the lower part.

[0018] The adjustment device can be motor-driven, which particularly facilitates automated adjustment and adaptation of the restoring force if the motor drive is coupled to a sensor device or a control device that activates and deactivates the drive on the basis of sensor data.

[0019] In one embodiment, at least one limiting device for limiting the pivoting about at least one of the pivot axes is adjustably mounted on the return element, upper part and / or the lower part. The limiting device can be designed as a slider or form-fitting element that is fastened and fixable, for example, to the flexible, rigid element, which is designed in particular as a belt, band, cable or the like or a section of the return element. The rigid element can be part of the return element or fastened to it. The limiting device makes it possible to set the maximum pivot angle about the respective pivot axis. This can be achieved, for example, using a combination of elastic materials with non-elastic materials.The return element can, for example, be designed as an elastic belt that is arranged on a flexible, non-elastic, or rigid belt, the non-elastic belt forming a loop. If the return element is stretched, the non-elastic belt tightens and, when fully extended, limits further pivoting about the corresponding pivot axis. In principle, the use of exclusively elastic return elements is also provided for and possible, with the maximum limitation being achieved by reaching the maximum extension of, for example, an elastic band or elastic belt. The limiting device can form or cover a section of the return element. The limiting device, in the design as a slider or form-fitting element, can, for example, be arranged along the longitudinal extent of the return element orThe rigid tension element can be arranged displaceably and can be fixed in the desired position. Alternatively or additionally, the limiting device is arranged on the upper part or the lower part and effects a coupling or positive locking of the upper part or lower part with the return element or the rigid tension component thereof or thereto.

[0020] The return element, in conjunction with any limiting device provided, secures the upper part to the lower part and prevents translational displacement of the upper and lower parts from each other beyond a specified distance. The return element(s) provide a return force against pivoting about any pivot axis, so that the initial position is resumed when external forces are removed, regardless of pivoting about any pivot axis.

[0021] Exemplary embodiments of the invention are explained in more detail below with reference to the figures. They show:

[0022] Figure 1 is a perspective view of a joint device;

[0023] Figure 2 - Detailed views of a return element and an adjustment device; Figure 3 - a detailed view of an assembled return element;

[0024] Figure 4 - Detailed views of a return element according to a further embodiment;

[0025] Figure 5 - a representation of a partially disassembled prosthetic arm;

[0026] Figure 6 - an exploded view of a prosthetic arm;

[0027] Figure 7 - a detailed view of a partially assembled prosthetic arm;

[0028] Figure 8 - a perspective view of a variant;

[0029] Figure 9 - a side view according to Figure 8 with an extended prosthetic hand;

[0030] Figure 10 - Representation of the embodiment according to Figure 8 with a prosthetic hand rotated around several axes;

[0031] Figure 11 - a detailed view of the embodiment according to Figure 8;

[0032] Figure 12 - a detailed view of a guide rail;

[0033] Figure 13 - two sectional views of the guide rail;

[0034] Figures 14 and 15 - Detailed representations of the return element and the adjustment device;

[0035] Figure 16 - Individual representations of the return element; and

[0036] Figure 17 - a variant of a lower limb prosthesis.

[0037] Figure 1 shows a perspective view of a prosthetic arm with an upper part 10 in the form of a forearm shaft and a lower part 20 in the form of a prosthetic hand. A joint 30 is formed between the upper part 10 and the lower part 20, so that the upper part 10 and the lower part 20 together form an orthopedic joint device. The upper part 10 is constructed in several parts and, together with the lower part 20, forms at least two pivot axes 31, 32 about which the lower part 20 can be pivoted relative to the upper part 10. In the illustrated embodiment, the first pivot axis 31 enables pivoting of the lower part 20 or the prosthetic hand about an axis substantially perpendicular to the base body of the palm, which corresponds to pivoting in the radial direction or ulnar direction within the plane of the palm.A second joint axis 32 runs substantially perpendicular to the first pivot axis 31 and enables flexion and extension of the lower part 20 relative to the upper part 10, so that the prosthetic hand can be pivoted in a palmar direction and dorsal direction from the illustrated starting position or neutral position.

[0038] In the illustrated position, the lower part 20 is in the starting position and is held in this starting position by a total of four return elements 40. In the illustrated embodiment, the return elements 40 are designed as elastic belts or bands, which are fastened with their respective proximal end to the upper part 10 and their respective distal end to the lower part 20. The return elements 40 are guided in the upper part 10 in guide rails, which will be explained in more detail later. A plurality of adjustment devices 50 are assigned to the return elements 40, via which it is possible to adjust the effective length of the return elements 40 and / or the return force or preload force of the return elements 40.

[0039] In the illustrated embodiment, the joint 30 is designed in the form of an ellipsoid joint or egg-shaped joint and has a joint head 34 formed on the lower part 20 at its proximal end. A correspondingly designed joint socket 35 is formed or arranged at the distal end of the upper part 10 and enables pivoting about the two pivot axes 31, 32. Furthermore, the structure with the joint socket 35 and the joint head 34 prevents a translational displacement of the upper part 20 relative to the lower part 10 in the proximal direction, i.e., in the direction toward the upper part 10, as well as in directions perpendicular thereto, i.e., in the radial-ulnar direction and in the dorsal-palmar direction. Only one translational degree of freedom 33 is released by the joint 30, namely the displacement in the distal direction, so that the prosthetic hand or the lower part 20 can be moved away from the upper part 10 or lifted off.Since this is undesirable during normal operation of the prosthetic hand, the return elements 40 are preloaded so that the return elements 40 hold the prosthetic hand or the upper part 20 preloaded within the joint 30 and counteract any displacement in the distal direction. The return elements 40 thus attach the prosthetic hand 20 to the prosthetic socket in a displaceable manner within the joint 30.

[0040] The two pivot axes 31, 32 of the joint 30 are oriented perpendicular to each other in the illustrated embodiment. When the joint 30 is designed as an ellipsoidal joint, it is possible, with a large radius of the joint surfaces, to rotate about the longitudinal extent of the upper part 10, so that the lower part 20 can perform multiple rotational movements or a combined rotational movement. In this case, the part 20 is moved in the direction of the translational degree of freedom 33 in the distal direction and is thus at least partially lifted out of the joint socket 35. Due to the restoring force of the restoring elements 40, the joint head 34 remains pressed against the corresponding support points or support lines on the joint socket 35.

[0041] In the embodiment shown in Figure 1, a total of four return elements 40 are arranged opposite each other in pairs. All return elements 40 are preloaded so that the illustrated starting position is maintained when no external forces or moments are applied. The preload of each return element 40 is adjustable, making it possible, for example, to provide a flexion movement with greater resistance than an extension movement.

[0042] As an alternative to the opposing elastic return elements 40, which act solely on tensile force and are designed as a flexible and elastic group or bands, tension-compression elements can also be arranged and fastened to the upper part 10 and the lower part 20. These tension-compression elements apply a corresponding restoring force to a pivoting movement about the two pivot axes 31, 32, starting from an initial position. The restoring force can then be exerted as a compressive force or tensile force, depending on the direction in which a displacement occurs. With tension-compression elements as return elements 40, only two return elements are required; it is also possible for several such return elements 40 to be designed and arranged on the orthopedic joint device.It is also possible for only one return element 40 to be present and to be fastened to the upper part 10 and the lower part 20, which, when pivoted about both the first pivot axis 31 and the second pivot axis 32, exerts a return force in the direction of the starting position.

[0043] Figure 2 shows detailed illustrations of the return element 40 or the return elements 40, as well as their storage position and their structure. The respective return element 40 is designed as a belt made of an elastomer material or with an elastomer material, which has a recess 42 at each end, with which the respective return element 40 can be positively secured to the upper part 10 or lower part 20. Figure 2 shows only one fastening device or a fastening element 11 of the upper part 10, which is designed as an angle or hook and is formed or fastened to the upper part 10. A corresponding positive-locking element is arranged or formed on the lower part (not shown) and is brought into engagement with the opposite recess 42.The recesses 42 can have various shapes, which are shown in Figure 2, for example square, oval, round, rectangular, triangular, oval, polygonal or rounded recesses.

[0044] Between the two end recesses 42, a thickened portion with a through-opening for a locking pin 41 is formed. The through-opening can be created during a primary forming process or formed by attaching a second material layer. The locking pin 41 runs transversely to the longitudinal extent of the return element 40 and projects laterally beyond it. The safety pin 41 prevents the return element 40 from contracting beyond a predetermined point. The locking pin 41 can provide security when the adjustment device 50 is fully unlocked and guarantees minimal preload of the return elements 40. In one embodiment, the locking pin 41 represents the abutment for the adjustment device 50.In the illustrated embodiment, the adjustment device 50 is designed as a slider that is arranged so that it can be displaced and secured on the return element 40. The adjustment device 50 can be displaced and secured either continuously or in discrete steps along the longitudinal extent of the return element 40 in order to adjust the respective restoring force of the respective return element 40. The adjustment device 50 can be supported either via the locking pin 41 or via other positive or non-positive locking elements in a guide rail or on the upper part 10 and can change the effective length of the return elements 40.

[0045] Figure 3 shows a detailed view of the reset element 40 in an installed state in the area of ​​attachment to the upper part 10. The attachment element 11 is fixed in a holder on the upper part 11 and can be covered and closed via a flap. The reset element 40 is hooked into the recess 42 in the attachment element 11 and guided along a guide rail 45. Arranged within the guide rail 45 is the adjustment device 50 in the form of a slider, which on the one hand clamps the reset element 40 or is otherwise secured thereto and on the other hand is fixed in the rail 45, for example, clamped or hooked in. This deactivates the proximal part of the reset element 40, so that the effective length of the reset element 40 is shortened.As a result, when the upper part 10 is displaced relative to the lower part 20, a greater relative deformation of the restoring element 40 is carried out in the distal section, so that a greater restoring force is provided for the same deflection.

[0046] Figure 4 shows a variant of the guide and fastening of the return element. Furthermore, the orthopedic joint device has a limiting device 60 in the form of a flexible and inelastic belt or band, which is also coupled to an adjusting device 50. The return element 40 and the limiting device 60 are guided essentially parallel and are fastened on the one hand to the upper part 10 and on the other hand to the lower part 20. By appropriately adjusting the adjusting devices 50, it is possible to adjust both the return force or preload and the maximum achievable pivot angle. Both control variables are adjustable independently of one another and can be used accordingly for flexion and extension as well as for rotation about the pivot axis 31.In the lower illustration of Figure 4, the two pivot axes 31, 32 are shown, the second pivot axis 32 runs perpendicular to the sheet plane, the first pivot axis 31 perpendicular to it within the sheet plane.

[0047] It is also possible to arrange two return elements 40 with two adjustment devices 50, for example, on the upper side of the upper part 10 to ensure easy accessibility. One of the return elements 40 serves to provide a return force upon flexion of the lower part 20, the other during extension. Corresponding limiting devices 60 can also be arranged on the easily accessible upper side and coupled to adjustment devices 50. The attachment to the lower part 10 then takes place at attachment points on opposite sides of the pivot axis 32 or 31.

[0048] Figure 5 shows the embodiment according to Figure 1 in a partially disassembled state. The return elements 40, in the form of elastic bands with optionally different lengths or elasticities, are each provided with recesses at the ends so that they can be secured to the fastening elements on the upper part 10 and the lower part 20. The securing is reversible so that the return elements 40 can be easily replaced and adjusted. The locking pin 41 can be inserted into a corresponding receptacle in the return element 40. Also visible are the guide rails 45 with the associated adjusting devices 50, which are slidably mounted within the guide rails 45 in order to be positively or non-positively locked at different points along the longitudinal extent of the guide rails 45.The adjustment device 50 can either be fixed to the return element or clamped thereto in a displaceable manner. The upper part 10 has receptacles for a total of four guide rails 45, at whose proximal end points the fastening devices 11 and the cover flaps 12 are arranged or inserted. The joint socket 35 of the ellipsoidal joint 30 is formed at the distal end of the upper part 10, while the joint head 34 is formed in a barrel-like or egg-shaped configuration at the proximal end of the lower part 20. Both the joint socket 35 and the joint head 34 can be arranged interchangeably on the respective components. As an alternative to the illustrated ellipsoidal joint or barrel shape, the components of the joint 30 can also be designed as a ball joint with a flat joint socket 35.

[0049] Figure 6 shows the individual components of the embodiment according to Figure 1 in an exploded view. The guide rails 45 with the adjustment devices 50 are inserted into the recesses on the top and bottom, as well as medially and laterally, of the upper part 10 and fixed therein. The return elements 40 in the form of elastic bands or straps are positively and reversibly attached to the upper part 10 and the lower part 20 and guided in the guide rails 45. Before the return elements 40 are attached, the adjustment devices 50 are pushed onto the return elements 40 and then inserted into the guide rails 45. Two adjustment devices 50 are provided per return element 40, which are positioned on either side of the receptacle for the locking pin 41 in order to be able to set different return forces continuously or in steps.The socket 35 is arranged or formed on a support part and is inserted into the shaft of the upper part 10.

[0050] Figure 7 shows the partially assembled state of the orthopedic joint device in the form of the prosthetic arm. A return element 40 on the upper side of the upper part 10 is already positively locked in the fastening device 11 and guided by the adjustment devices 50 within the guide rail 45. The flap 12 is not yet closed. The other three return elements 40 have not yet been inserted and fixed in the guide rails 45 and the adjustment devices 50. It can be seen that all return elements 40 are attached to the lower part 20, so that two return elements 40 are positioned opposite each other in pairs. This ensures that, from an initial position, pivoting in both possible pivot directions around the respective rotational degree of freedom can occur and a return movement with a corresponding return force can occur.

[0051] Figure 8 shows a further embodiment of the orthopedic joint device, also in the form of a prosthetic arm. The basic structure does not differ from the embodiment shown in Figure 1. Here, too, two pivot axes 31, 32 are provided, which are oriented essentially perpendicular to one another in the ellipsoidal joint 30. The lower part 20 can thus perform two pivoting movements about the pivot axes 31, 32, and if necessary also a combined movement. The lower part 20 is movably attached to the upper part 10 via a total of four return elements 40. The return elements 40 are designed as elastic bands or straps and, in the illustrated embodiment, are guided in two layers within the guide rails 45.The adjustment devices 50 are also guided in the guide rails 45 and limit the effective length of the respective return elements 40 between the adjustment device 50 and the lower part 20. The return elements 40 are guided in the area of ​​the joint socket 35 within a circumferential ring in order to protect the return elements 40 during a movement of the joint head 34 within the joint socket 35 and to prevent the return elements 40 from twisting or pinching other objects.

[0052] Figure 9 shows a side view of the prosthetic arm with upper part 10 and lower part 20 in an extended position. This pivots around the second pivot axis 32, shown in Figure 8, so that the back of the prosthetic hand is displaced toward the upper part 10. As a result, the return element 40 attached to the underside is stretched, while the return element 40 on the upper side is relaxed. The medially and laterally arranged return elements 40 are also slightly displaced; the deformation contributes only slightly, if at all, to a stretching and thus to the generation of a return force toward the starting position according to Figure 9. The ring formed externally around the joint socket 35 keeps the return elements 40 aligned with the guide rails 45, ensuring safe and reliable operation.

[0053] Figure 10 shows an oblique top view of a combined movement of the lower part 20 relative to the upper part 10. The joint head 34 on the lower part 20 is rotated both about the second pivot axis 32 and about the longitudinal extent of the upper part 10, so that the joint head 34 has lifted slightly out of the joint socket 35. This can be seen from the rotated return elements 40. When the external forces are removed, the lower part 20 is moved back to its original position relative to the upper part 10, so that the joint head 34 is fully received again in the joint socket 35.

[0054] Figure 11 shows an individual part of the embodiment according to Figures 8 to 10. The prosthetic hand as the lower part 20 is constructed in several parts and has a base body similar to a palm with attached fingers and a thumb module. At the proximal end of the lower part 20 is the joint head 34, which is formed separately and can be fixed to the base body either permanently with a material fit or replaceably with a form fit. The upper part 10 is also constructed in several parts and has receptacles for the rails 45 and for the joint socket 35. The components can be plugged together and fixed, for example by screws or similar fastening devices. The guide rails 45 can also be fixed in the upper part 10 using screws or other fastening elements.Both the joint head 34 and the joint socket 35 are designed as egg-shaped or ellipsoidal joints, allowing for easy movement in multiple planes around multiple axes, in this case around two axes. The main mobility occurs around the second pivot axis 32 along the longitudinal extension of the ellipsoidal joint.

[0055] Figure 12 shows a perspective individual view of the guide rails 45 with the return element 40 and the adjustment device 50. In this embodiment, the guide rail 45 has downwardly directed form-locking elements 46 in the form of teeth on its upper, inwardly projecting rail sections, which can be seen more clearly in the illustrations in Figure 13. The illustrations in Figure 13 show a sectional view without the return element. The adjustment device 50 is fixed to the return element 40 and is pressed upward against the form-locking elements 46 by the tensile stress in the prestressed return element 40. The adjustment device 50 has projections projecting laterally beyond the return element 40, similar to the locking pin, and can be disengaged from the form-locking elements 46 by pressing downwards.The adjustment device 50 is then moved to the desired position and released so that the lateral projections, as shown in the lower illustration of Figure 13, again engage with the form-locking elements 46.

[0056] Figures 14 and 15 show a return element 40 with an adjusting device 50 and a locking pin 41 movably arranged on the return element 40. The locking pin 41 is continuously movable and designed to be fixable to the return element 40. The locking pin 41 limits the effective length of the return element 40 or enables a change in the preload of the elastic element of the return element 40. The adjusting device 50 has an operating surface that projects beyond the guide rail 45 (not shown) and can be guided displaceably within the central recess of the guide rail 45. Laterally therefrom, the projections shaped correspondingly to the form-locking elements 46 project beyond the width of the return element 40 in order to be able to engage with the form-locking elements 46.

[0057] Figure 16 shows individual views of the return element 40, showing both an elastic element 43 and a limiting device 60. The two left-hand figures show, in a side view and a top view, a return element 40 with a limiting device 60 made of a flexible, non-elastic material, to which an elastic element 43 is connected. The elastic element 43 also has the shape of a belt and is arranged, for example, proximal to the limiting device 60. If an adjustment device (not shown) is displaced into the area of ​​the limiting device 60 and locked there, for example, in a form-fitting manner with one of the guide rails, no elastic displacement of the lower part relative to the upper part in the pulling direction takes place. However, displacement in the direction of the elastic element 43 or the elastic section is possible.If the adjustment device (not shown) is displaced into the area of ​​the elastic element 43 or the elastic section 43, the upper part can be pivoted relative to the lower part due to the elongation of the elastic element 43.

[0058] Two further embodiments of the return element 40 are shown in side views in the two right-hand illustrations in Figure 16, which show a parallel arrangement or parallel connection of an elastic element 43 and a limiting device 60. In the upper illustration, the two components are connected to one another at their two ends, with the limiting device 60 being longer than the elastic element 43. Stretching of the elastic element 43 is then only possible until the belt as the limiting device 60 is maximally stretched. In the lower illustration, the limiting device 60 is shorter than the elastic element 43 and, for example, sewn onto the top side of the elastic element 43, thereby achieving the same effect as in the left-hand illustration.

[0059] Figure 17 shows a perspective view of a lower extremity prosthetic device. The prosthesis forms an orthopedic joint device with an upper part 10 in the form of a prosthetic lower leg with a proximal fastening device for securing the prosthetic lower leg to a femoral shaft. A prosthetic knee joint with an actuator or a damper is arranged within the prosthetic lower leg. In the distal region of the upper part 10, a joint 30 is formed, which pivotally connects a prosthetic foot as the lower part 20 to the upper part 10. The joint 30 is designed, for example, as a ball joint or ellipsoid joint, so that two pivot axes (not shown) are formed. The prosthetic foot as the lower part 20 can pivot anteriorly and posteriorly within the sagittal plane, as well as medially and laterally within the frontal plane.On the outside of both the upper part 10 and the lower part 20, a total of four return elements 40 are arranged. These elements are constructed as described above and elastically preload the lower part 20 toward the upper part 10. Pivoting from the illustrated starting position into one of the possible pivoting directions results in at least one return element 40 being stretched, exerting a return force toward the starting position. The return force is adjustable, as described above. In principle, a limiting device for limiting the maximum pivoting in the respective direction is also possible and provided.

Claims

Patent claims 1. An orthopaedic joint device having an upper part (10) and a lower part (20), between which a joint (30) is formed, characterized in that the joint (30) forms at least two pivot axes (31, 32) which are not oriented parallel to one another and in that at least one restoring element (40) is fastened to the upper part (10) and the lower part (20), wherein the restoring element (40) has an elastic element (43) which exerts a restoring force in the direction of the initial position when the upper part (10) is pivoted relative to the lower part (20) from an initial position.

2. Orthopaedic joint device according to claim 1, characterized in that the joint (30) has a joint head (34) and a joint socket (35) and is designed as a ball joint or ellipsoid joint.

3. Orthopaedic joint device according to claim 1 or 2, characterized in that the pivot axes (31, 32) are oriented perpendicular to one another.

4. Orthopaedic joint device according to one of the preceding claims, characterized in that the joint (30) has at least one translational degree of freedom (33).

5. Orthopaedic joint device according to one of the preceding claims, characterized in that a plurality of return elements (40) are fastened to the upper part (10) and the lower part (20) and are arranged to act in different, in particular opposite, directions.

6. Orthopaedic joint device according to one of the preceding claims, characterized in that the restoring element (40) is designed as a tension element, belt, band or elastomer and has at least one tensile-rigid, flexible component ().

7. Orthopaedic joint device according to one of the preceding claims, characterized in that the return element (40) is detachably attached to the upper part (10) and / or the lower part (20).

8. Orthopaedic joint device according to one of the preceding claims, characterized in that the restoring element (40) is assigned an adjusting device (50) for adjusting the restoring force.

9. Orthopaedic joint device according to claim 8, characterized in that the adjusting device (50) is mounted displaceably and fixably on the return element (40), the upper part (10) and / or the lower part (20).

10. Orthopaedic joint device according to one of claims 8 or 9, characterized in that the adjusting device (50) is mounted on the upper part (10) and / or the lower part (20) so as to be displaceable in discrete steps or continuously.

11. Orthopaedic joint device according to one of claims 8 to 10, characterized in that the adjusting device (50) is motor-driven.

12. Orthopaedic joint device according to one of the preceding claims, characterized in that at least one limiting device (60) for limiting a pivoting about at least one of the pivot axes (31, 32) is adjustably mounted on the return element (40), the upper part (10) and / or the lower part (20).

13. Orthopaedic joint device according to claim 12, characterized in that the limiting device (60) is designed as a flexible, rigid Element, in particular as a belt, band or cable, or as a slider or form-fitting element (41). Orthopedic joint device according to one of the preceding claims, characterized in that it is designed as a prosthetic wrist joint or as a prosthetic ankle joint. Orthopedic joint device according to one of the preceding claims, characterized in that the restoring element (40) fastens the upper part (10) to the lower part (20). Orthopedic joint device according to one of the preceding claims, characterized in that the restoring element (40) exerts a restoring force upon pivoting about each pivot axis (31, 32) in the direction of the starting position.

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