Prosthetic hand

Abstract

The invention relates to a prosthetic hand comprising an elastic prosthetic socket, having a socket wall and a proximal insertion opening to a receiving space for receiving an arm stump or a rigid socket, and also comprising a distal end portion formed distally on the prosthetic socket, the distal end portion(18) being in the form of a functional element.

Description

[0001] prosthetic hand

[0002] The invention relates to a prosthetic hand with an elastic prosthetic shaft having a shaft wall and a proximal insertion opening to a receiving space for receiving an arm stump or a rigid shaft sleeve, and with a distal end portion which is formed distally on the prosthetic shaft.

[0003] Prosthetic hands are designed to replace the shape and / or function of a missing or no longer present hand. Prosthetic hands are available in various shapes and functions.

[0004] Sensor-controlled prosthetic hands, which can be technically constructed in different ways, have a high level of functionality.

[0005] WO 03 / 017880 A1 relates to a prosthetic hand in which each individual prosthetic finger, mounted on a chassis, has a separate drive. The drive is located in the respective prosthetic finger. With such a prosthetic hand, it is possible to realize various gripping situations, such as a pinch grip or a lateral grip. Disadvantages include the high control effort required for each individual finger, the complex technology with drives integrated into the fingers, and an increased susceptibility to failure due to the complex design.

[0006] DE 405 871 B1 describes an artificial hand with a chassis or palm on which rotatable fingers and a rotatable thumb are arranged. In the palm, a drive disc rotatable about an axis perpendicular to the palm is connected to the fingers and thumb by means of connections such that rotation of the disc in one direction causes the fingers to open and in the opposite direction causes them to close. The rotation of the disc in one direction is effected by a cord, and the return movement in the opposite direction is effected by a spring inside the disc. Locking teeth are attached to the circumference of the drive disc; these engage with a pawl and hold the drive disc in the position it has reached during rotation by the cord.

[0007] US 2009 / 0016851 A1 relates to a robotic hand comprising a base, a motor mounted on the base, and prosthetic fingers that are articulated relative to the base. The thumb can be pivoted about two different pivot axes relative to the chassis.

[0008] Such prosthetic hands offer a close approximation of a natural hand both visually and functionally. Due to the necessary drives and moving parts, the areas of application for such mechanically complex and mobile prosthetic hands are limited. The complex construction with its numerous components entails considerable assembly effort and also requires a protective cover to protect the moving components.

[0009] Relatively simple gripping elements, or so-called "hooks," consist of two movable, hook-shaped elements that can be moved toward and away from each other by motor control or by movement of the arm or shoulder. They provide basic functionality but lack a natural feel.

[0010] US 2004 / 00195638 A1 discloses a two-finger gripper in which two gripping devices can be moved from an open position to a closed position, in which the gripping devices are directly opposite each other. An object located between the gripping devices can thus be held. To release the grip, the direction of rotation of the drive can be reversed. Prosthetic hands with very limited functionality are so-called passive prosthetic hands, which merely mimic the appearance of a natural hand.

[0011] WO 2006 / 107 303 A1 discloses a prosthetic hand with a handle shaped to hold a substantially round ball. The ball is designed to be held within the handle and has means for attaching a tool or object to or within it.

[0012] The website https: / / www.pohlig.net / alltagshilfen describes individual functional aids for patients with amputations or congenital malformations of the upper extremities. These aids are designed to provide a tool for performing frequently repetitive tasks. An eating aid allows the user to hold cutlery, while a writing aid allows the user to use a pen. An elastic cuff has a holder for a pen or a piece of cutlery.

[0013] The object of the present invention is to provide a lightweight and easy-to-use prosthetic hand that has basic functionalities and can be used to perform basic activities in everyday situations.

[0014] This problem is solved by a prosthetic hand having the features of the main claim. Advantageous embodiments and further developments of the invention are disclosed in the subclaims, the figures, and the description.

[0015] The prosthetic hand with an elastic prosthetic socket, which has a socket wall and a proximal insertion opening to a receiving space for an arm stump or a rigid socket sleeve, and with a distal end section that is integrally formed distally on the prosthetic socket, is characterized by the distal end section being designed as a functional element. The distal arrangement of the end section as a functional element, which, due to the elastic design of the prosthetic socket, can be easily applied to the upper arm stump or forearm stump or a corresponding receiving device, such as a sleeve-like socket, gives the hand prosthesis basic functionality in everyday situations, allowing, for example, clamping or holding objects.Such a design is particularly advantageous for activities in so-called wet areas, where myoelectrically controlled prostheses or prostheses with complex mechanical structures reach their limits. With such a prosthetic hand, the forearm stump or the replacement of a forearm stump or even an upper arm stump is extended and modified to provide the desired functionality. Users can perform a variety of activities with the functional element, for example, during personal care, cooking, activities in wet areas, sports, and the like, without increased wear and tear on mechanical, articulated components being expected. The functional element can be designed differently depending on the situation. Users can have multiple prosthetic hands, which can be used as needed.

[0016] In one embodiment, the prosthetic socket is sleeve-shaped and rollable, so that to fit the prosthetic hand, it is only necessary to insert or place the stump or the end to be accommodated into the receiving space or a distal end area of ​​the receiving space and then roll the prosthetic socket onto the forearm stump, upper arm stump, or a rigid socket sleeve. Rolling the socket to remove the prosthetic hand also makes it easy to clean the prosthetic socket, as the inside of the receiving space is rotated outward and accessible.

[0017] In one embodiment, the receiving space has a distal end region, in particular a closed distal end region, from which the functional element protrudes distally beyond the end region. The end region thus forms a distal extension of the prosthetic socket and thus also of the forearm stump or socket sleeve. The shape and length of the end section are advantageously adapted to the respective intended use and the physical characteristics of the respective user.

[0018] In one embodiment, at least one recess is provided in the socket wall, which is designed in particular as a window. The window serves to improve fixation when the inner socket is applied to an upper or lower arm stump, since muscle and fatty tissue is pressed into the window due to the compression of the prosthetic socket onto the stump and may also protrude beyond the outer surface of the prosthetic socket. This prevents or at least makes it more difficult for the upper or lower arm stump to twist and / or slide out of the receiving space of the prosthetic socket. Furthermore, the window allows the prosthetic hand to be hung on a hook or similar when it needs to be dried after cleaning or when it is temporarily put away after being exchanged for a different prosthetic hand for a different purpose.

[0019] In one embodiment, an intermediate region is present between the prosthetic shaft and the distal end section, in which at least one holder for at least one tool or at least one counterpart is arranged or formed. The positioning of the holder in an intermediate region between the end section and the distal end of the prosthetic shaft enables good guidance and good force transmission without impairing the functionality of the end section. The tool or counterpart is securely held in the holder and can be replaced depending on the intended use. An appropriate design of the holder, for example with form-locking elements or clamping devices, ensures easily replaceable and secure storage of the counterpart or tool on the prosthetic shaft.

[0020] In one embodiment, the holder extends through the gap, allowing, for example, accessibility of the counterpart and adjustability on the back of the hand, while the effective length and orientation of the tool or counterpart extending through the gap can be adjusted. The tool or counterpart is thus easily accessible to the user, for example, to adjust it with the hand on the contralateral side. At the same time, secure positioning and support are achieved over a large distance within the gap, ensuring extensive force absorption and good force distribution.

[0021] In one embodiment, the holder is arranged or designed such that a tool or counterpart held therein is positioned at a distance from the end section or, in an alternative embodiment, rests against the end section. If the tool or counterpart is designed and positioned in the holder such that the end of the tool or counterpart does not rest against the end section, a fork-like configuration is formed. An object can be hooked or inserted into the free space between the non-touching end regions, for example to take household items from a shelf, to clamp objects between them, or to provide a securing device for objects resting on the end section. In the alternative embodiment, the end region of the tool or the counterpart rests against the end section, so that an enclosed free space is formed.The contact can be designed to stabilize the end section. Likewise, if the end section and / or the counterpart or tool are elastically designed, or if the holder is elastically mounted, the contact can be released, an object can be inserted into the free space, and then held elastically.

[0022] In one embodiment, the end section is elastic, which can be advantageous when performing activities in everyday situations. With a corresponding design of the end section as a functional element, it can be used directly as a kitchen utensil, for example, to remove food from containers or move it within them, to clamp objects to a tool or counterpart, and / or to achieve a flexible behavior to prevent injuries.

[0023] The end section made of an elastic material, in particular an elastic plastic or elastomer material, can, in one embodiment, have various elements arranged at the end section or within the end section. To increase stability, at least one reinforcing element can be arranged at or in the end section. A separate reinforcing element, which is permanently attached to or in the end section, has the advantage that the functional element and the end region can be adapted to the respective intended use in terms of stability. The material of the end section, preferably elastic plastic, is therefore not solely responsible for providing sufficient dimensional stability.This allows for a high level of stability of the functional element in certain areas, while simultaneously providing protection through the elastic components that at least partially, advantageously completely, surround the reinforcing element. Embedded reinforcement element(s) in the plastic material provide complete protection for the reinforcement element and cushioning to prevent damage caused by the reinforcement element coming into contact with other body parts or objects. Alternatively or additionally, at least one fastening element is arranged in the end section, for example a thread, a threaded insert, a sleeve with undercuts, or form-fitting elements, in order to secure additional components therein or thereto. This allows the prosthetic hand to be designed modularly and adapted to the respective intended use.Alternatively or additionally, a shape memory element is arranged on or within the end section, which moves the end section back to its original position after deformation and activation. Likewise, a spring, in particular in the form of a leaf spring, can alternatively or additionally be arranged, in particular embedded, on or in the end section in order to influence the elastic properties and in particular to provide increased stability against deformation. To expand the area of ​​application of the prosthetic hand, in one embodiment a magnet is arranged on or in the end section, either alone or in combination with one of the aforementioned components. The at least one magnet allows a force-fitting attachment of a magnetic or ferromagnetic component to the prosthetic hand, either to fix this component to the prosthetic hand or to reinforce its association with the prosthetic hand.

[0024] In one embodiment, the end section has a flat end part with a dorsal section and a palmar section. The end part is essentially disc-like and has, for example, the outline of a closed hand with outstretched or slightly bent fingers. As a result, the end part is provided with a certain thickness, which corresponds, for example, to the thickness of the fingers. The end part can be straight or curved. The upper side or dorsal side is advantageously smooth, while in one embodiment, at least one form-fitting element is arranged on the palmar side, which corresponds to the palm of the hand, and can be molded thereto or attached. The form-fitting element serves, for example, as an abutment when objects are to be held or to accommodate the free space between the end section and the counterpart.Instead of a smooth surface, elevations or depressions can be formed on the dorsal side to give the upper surface structure. Form-fitting elements or projections can also be arranged on the dorsal side to adapt the functionality of the end section.

[0025] On the side opposite the end part, analogous to the thumb side of a natural hand, one embodiment features a lower part which forms a free space between itself and the end part. The free space is then no longer formed by a counterpart or no longer solely by a counterpart, but by a molded-on or permanently materially bonded lower part. Objects can be held within the free space. The lower part provides security against the object falling or slipping out of the prosthetic hand. In a design of the prosthetic hand with the lower part, the end part forms an upper part. The counterpart or the tool can be arranged and fixed in a holder in addition to the lower part.

[0026] To provide elasticity tailored to the respective function, the material of the prosthetic socket and the material of the end section have different Shore hardnesses. The material of the prosthetic socket and the material of the end section can be silicone or another elastomer, for example. Different Shore hardnesses can be achieved by filling certain areas with uncrosslinked or partially crosslinked silicone with different Shore hardnesses and a common crosslinking. When producing the prosthetic hand using an additive manufacturing process, different Shore hardnesses can be achieved by using different materials or material types that are applied in the respective application layer or crosslinking layer. Different Shore hardnesses can also be achieved by using different base materials and / or catalysts or crosslinking agents.The different hardnesses are formed in particular between the prosthetic socket and the end section, with the prosthetic socket having a lower hardness in the area where it rests on a stump than in the end section or in the transition area between the end section and the prosthetic socket. In one embodiment, the prosthetic socket has a palmar region and a dorsal region, with the dorsal region having a greater Shore hardness than the palmar region. The palmar region is an extension of the palm of the hand and extends from the distal end or front end of the prosthetic hand to the proximal end, while the dorsal region is an extension of the back of the hand. In particular, the design of a harder section on the dorsal side over the entire length of the prosthetic hand and the prosthetic socket results in a reinforced back, which can terminate in a tongue in the area of ​​the proximal edge of the prosthetic socket.The strip of harder material on the back of the prosthetic socket allows the residual limb to be inserted more easily into the socket and the prosthetic socket to be pulled onto the residual limb more easily. The harder material on the dorsal side of the prosthetic socket provides good dimensional stability, while the comparatively softer material on the palmar side or inside of the prosthetic socket ensures a good fit and contact with the residual limb.

[0027] In one embodiment, a coating is applied to the outside of the prosthetic hand, in particular to partial areas of the outside of the prosthetic hand, in order to adapt the surface properties. The coating is in particular a CVD coating, which is used to make the surfaces less frictional. The friction-reducing coating improves the haptics and in particular facilitates rolling up and down in the area of ​​the prosthetic socket. In some areas, in one embodiment, no friction-reducing coating is applied because, for example, increased grip can be advantageous on the palmar side. If the prosthetic hand is made of a material that has the desired properties in this area, no coating is applied there; if increased grip is desired, a coating with a higher coefficient of friction or improved adhesive properties can be applied in the designated areas.

[0028] In one embodiment, the prosthetic socket has at least one chamber with a valve, for example, to introduce air or a liquid into or discharge it from the chamber. This allows adjustments to the circumference and contact pressure in the prosthetic socket or in the area of ​​the end section. A chamber without a valve can accommodate an additional element, for example, a stiffening element, a balloon, a foam, a strip, a magnet, or the like.

[0029] The prosthetic shaft and the end section are advantageously formed as a single piece or are integrally connected to one another, for example, using an additive manufacturing process, a casting process, by casting plastics onto already partially cross-linked components, or by gluing. An end section integrally formed onto the prosthetic shaft refers to all integral connections between the end section and the prosthetic shaft, in particular, one-piece primary forming, casting, gluing, or welding.

[0030] The method for producing a prosthetic hand, as described above, provides for it to be manufactured in one piece and for a prosthetic hand to be filled from at least one sprue point, in particular at least one end-side, in particular proximal, sprue point, counter to the direction of gravity. The prosthetic mold forms a cavity which is filled with the material of the prosthetic hand. The prosthetic mold is vertical or essentially vertical, with the distal end section being located above the proximal end of the prosthetic shaft. At least one insertion opening or at least one sprue point is provided at the lower end of the prosthetic mold, through which the material, in particular silicone or another elastomer material, is fed.If there are multiple sprue points or insertion openings, these are arranged or formed in an end region at the lower end of the mold and distributed around the circumference. The sprue point or sprue points are formed in the mold in particular in the proximal region of the prosthetic hand and allow filling against the direction of gravity. The terms proximal and distal refer to the finished prosthetic hand. In addition to the end sprue point or sprue points, further sprue points can also be arranged in the mold which are spaced apart from the end sprue points in the longitudinal direction, in particular are positioned further distally so that material can be introduced at different levels. If only a single material hardness is desired for the prosthetic hand, the prosthetic mold is completely filled with the material.If several different zones with different material hardnesses are provided for the prosthetic hand, in one embodiment a first material is first poured into the prosthetic mold, wherein the first material in a cross-linked state has a greater Shore hardness than a second material in a cross-linked state. The second material is introduced into the prosthetic mold after the first material and displaces or transports the first material in the distal direction of the prosthetic mold until the prosthetic mold is completely filled or until a sufficient amount of first material has exited an outlet opening. The first material can initially completely fill the cavity within the prosthetic mold. By using different materials that cross-link within the prosthetic mold, a one-piece prosthetic hand with different Shore hardnesses is realized.

[0031] The at least one sprue point is advantageously located on the palmar or inner side of the prosthetic mold, so that a somewhat harder zone forms on the outer or dorsal side of the prosthetic socket, since the first material, which is harder in the cross-linked state, is pushed away from the sprue point. The zone with the harder material advantageously extends over the entire length of the prosthetic hand, resulting in a gradual transition in hardness from palmar to dorsal and from proximal to distal, whereby the distal end region with the functional element can have a consistent, uniform Shore hardness. The different hardnesses are achieved by varying amounts of the different materials and enable the reproducible production of a prosthetic hand with different hardness ranges.The different materials can also be the same silicone but with different degrees of cross-linking, so that different Shore hardnesses occur when fully cross-linked.

[0032] Exemplary embodiments of the invention are explained in more detail below with reference to the figures. They show:

[0033] Figure 1 - a perspective view of a prosthetic hand; Figure 2 - a dorsal plan view of the prosthetic hand according to Figure 1;

[0034] Figure 3 - a longitudinal sectional view of the prosthetic hand of Figure 2;

[0035] Figure 4 - a variant of the prosthetic hand when put on;

[0036] Figure 5 - a variant with one spring;

[0037] Figure 6 - a variant with chambers in the prosthetic shaft;

[0038] Figure 7 - a schematic representation of a manufacturing process;

[0039] Figure 9 - Variants of the design according to Figure 8;

[0040] Figure 10 - a prosthetic hand with a rope guide;

[0041] Figure 11 - a side view of Figure 10;

[0042] Figure 12 - Embodiments of a prosthetic hand with actuating device;

[0043] Figure 13 - a variant of the prosthetic hand with a holder;

[0044] Figure 14 - Sectional views of a prosthetic hand with insoles;

[0045] Figure 15 - a prosthetic hand with a mechatronic tool;

[0046] Figure 16 shows a sectional view of a prosthetic hand with a mechatronic tool and control element;

[0047] Figure 17 - a prosthetic hand with a magnetic insert;

[0048] Figure 18 a counterpart with springs of the component;

[0049] Figure 19 - a prosthetic hand with a spring element; Figure 20 - a prosthetic hand with palmar inserts;

[0050] Figure 21 - a prosthetic hand with a splint;

[0051] Figure 22 - a prosthetic hand made of a soft base material with inserts made of a harder material;

[0052] Figure 23 - a counterpart in the form of a flashlight;

[0053] Figure 24 - Prosthetic hand with a touch tool;

[0054] Figure 25 - a variant of a counterpart; and

[0055] Figure 26 - Variants of a prosthetic hand for toddlers.

[0056] Figure 1 shows a perspective view obliquely from below of a prosthetic hand in a one-piece design, comprising a sleeve-like prosthetic socket 10 with a socket wall 12 and a proximal insertion opening 14. The socket wall 12 forms a receiving space 16 into which an arm stump can be inserted, in particular immediately, or alternatively after applying a cover, a liner, or a textile cover. Alternatively, the prosthetic socket 10 serves to receive a sleeve-like socket body, for example a cuff or brace, which is rigid or stiff, such as a prosthetic socket of a myoelectrically controlled prosthesis without the mounted gripping device, and can be placed around a forearm stump. The socket sleeve, which is not shown, serves, for example, to stabilize the tissue, to shape, or to lengthen a forearm stump.The receiving space 16 is essentially closed and has a closed, distal end region, which can be seen more clearly in Figure 3. The receiving space 16 is adjoined by an intermediate region 17, which is solid and opens into an end section 18, which is positioned distally from the prosthetic shaft 10 and the receiving space 16 and distally from the intermediate region 17. The end section 18 forms the distal end of the prosthetic hand and, in the illustrated embodiment, is disc-shaped and forms an end part 180 with a contour that corresponds to a hand with closed, slightly bent fingers. The end section 18 forms a spoon-shaped functional element. A thumb element is not formed from the material of the end section 18. The end section 18 has a palmar section 184 on the end part 180, which corresponds to the palm of the hand.The palmar section 184 at the end part 180 has protruding form-locking elements 186, in the illustrated embodiment six form-locking elements 186, which are designed as blocks or webs and protrude beyond the otherwise substantially smooth surface of the palmar section 184. The form-locking elements 186 in the illustrated embodiment are directed outward and arranged on the circumference of the end part 180. In the center between the form-locking elements 186 is a counterpart 20, which is made of a different material than the prosthetic hand 10, in particular of a rigid, dimensionally stable material. The counterpart 20 is inserted into and held in a holder 19, which is designed as a channel through the intermediate region 17. The counterpart 20 can be positioned and fixed as desired within the holder 19.For this purpose, the counterpart 20 is guided through the channel from the dorsal side, as can be seen in Figure 2, and held in the desired position due to elastic holding forces, frictional forces, or form-locking elements. In the illustrated embodiment, the end region of the counterpart 20 rests against the surface of the palmar section 184 between the form-locking elements 186, so that due to the curved shape of the end part 180, a free space is formed between the counterpart 20 and the palmar section 184, which can be used to accommodate objects. The objects are inserted, for example, through the space between two form-locking elements 186 into the free space between the counterpart 20 and the palmar section 184 and are held in this area due to the elastic design.Due to the opposing arrangement of the form-locking elements 186, for example, a rod, a screwdriver, a razor or a spoon can be held in the respectively desired and adjusted orientation, for example perpendicular to the longitudinal extension of the counterpart 20, at a 45° angle thereto or substantially parallel thereto as an extension of the counterpart.

[0057] Figure 2 shows a dorsal view of the prosthetic hand, illustrating the accessibility of the separate, rigid counterpart 20 from the dorsal side of the prosthetic hand. The holder 19 with the channel extends through the intermediate region 17 and projects through it. The intermediate region 17 essentially corresponds to the wrist region of a natural hand. Reinforcing elements can be arranged, particularly within the intermediate region 17 and the end part 180, to limit the elasticity or increase the restoring force, and to achieve increased dimensional stability of the end part 180 and the intermediate region 17.In the proximal end region of the prosthetic shaft 10, a recess 122 in the form of a window is arranged in the shaft wall 12, which is helpful when putting on the prosthetic shaft 12 as well as when taking it off, can be used to hang up the put-down prosthetic hand and supports fixation of the prosthetic shaft 10 to the forearm in the put-on state.

[0058] Figure 3 shows a longitudinal section through a prosthetic hand according to the embodiment of Figures 1 and 2. In addition to the one-piece design made of silicone or a copolymer, the sectional view shows the receiving space 16 with its distal end region 162. As a result, the receiving space 16 is designed as a closed sleeve with a closed end region 162 and an insertion opening. The shaft wall 12 is provided with an opening 122 in the proximal end region in the form of a window; compressed muscle tissue or soft tissue can pass through the window or opening 122 or protrude into the recess 122 and, if necessary, protrude beyond the outer side of the shaft wall 12. In the sectional view according to Figure 3, the holder 19 can be seen in the form of a channel extending through the intermediate region 17.The rod-shaped counterpart 20, bent at the end region, is inserted within the holder 19. Its front end rests against the palmar section 182, so that a free space 80 is formed between the surface on the palmar side of the end part 180 and the counterpart 20, which can be used to hold objects. Due to the elastic design of the end section 18, the end section 18 can spring back after deformation and clamp the object between it and the rigid counterpart 20. The counterpart 20 is arranged and fixed in place within the holder 19 in a replaceable manner. Due to its curved, spoon-like shape with the smooth dorsal section 182, the end section 18 is also designed as a functional element without the counterparts 20. The form-locking elements 186 serve to facilitate the fixing and clamping of objects.

[0059] Figure 4 illustrates the application of the prosthetic hand directly to a forearm stump. The prosthetic socket 10 is rolled up or folded over from its proximal end toward the end portion 18, so that the distal end region 162 is easily accessible. The distal end of the stump is inserted into the closed, distal end region 162, as shown in the upper illustration of Figure 4. The prosthetic socket 10, folded over or rolled up forward, is then rolled onto the forearm stump, as indicated in the lower illustration of Figure 4. The prosthetic socket 10 adheres to the forearm stump over the entire circumference of the forearm stump, with the exception of any recess 122, and secures the prosthetic hand to the forearm stump with the end portion 18.The embodiment according to Figure 4 shows the end region with an end part 180 and an opposite lower part 280, which are formed integrally from the same material. A free space 80 is formed between the end part 180 and the lower part 280, which serves to accommodate objects or can be used for other purposes. The distal ends of the end part 180 and the lower part 280 can be used, for example, to wash hair or come into contact with other surfaces and can be designed so that the prosthetic hand can be placed on them when stored.

[0060] Figure 5 shows a schematic representation of the prosthetic hand with a molded end portion 180 and a molded lower portion 280. A resilient material, a spring, or a shape memory material 181 is cast within the end portion 18 and extends into the distal regions of the end portion 180 and the lower portion 280. The spring 181 simultaneously serves as a reinforcing element and enables secure holding of objects clamped between the lower portion 280 and the end portion 180.

[0061] Figure 6 shows a prosthetic hand with the prosthetic socket 10, within which two chambers 183 are formed, which can be filled with air via a valve 185, to which a pump may be assigned. Conversely, air is released via the valve 185, so that the chambers 183 are emptied and the prosthetic socket 10 can be easily put on and taken off. When the chambers 183 are filled with air, the contact pressure on the forearm socket increases, and the prosthetic socket is pressed tightly against the forearm stump to ensure a secure fit.

[0062] In patients with dysmelia or scar tissue, excess structures may exist on parts of the stump, for example, scar tissue growths, tissue bulges, or incompletely developed fingers. These structures are often present in the distal region of the stump and can be accommodated by recesses or cutouts in the socket wall 12 or in the socket receptacle, particularly in the distal end region 162 of the receptacle space 16.

[0063] Figure 7 schematically illustrates the manufacturing process for a prosthetic hand with a prosthetic socket 10. The left-hand illustration shows a prosthetic mold 300 with a cavity 350 that corresponds to the outer shape of the prosthetic hand with the prosthetic socket 10. In order to form the receiving space 16 (not shown) for receiving the arm stump through the proximal insertion opening 14, a corresponding insert is arranged or formed within the cavity 350. A first material A is first pressed or introduced into the cavity 350 through a gate 310. Several gates 310 can be arranged at the lower end of the mold, distributed around the circumference, to enable the material to flow into the mold. A different material can be introduced through each gate.The prosthesis mold 300 is essentially vertical, so that filling occurs from bottom to top against the direction of gravity, which is indicated by the arrows drawn in the prosthesis mold 300. The first material A, with a comparatively high Shore hardness in the fully cross-linked state, is introduced into the prosthesis mold 300 until the cavity 53 is completely filled, or until material emerges from an upper vent or outlet opening 320. Subsequently, a defined amount of a second material B is poured into the prosthesis mold 300 through the gate point 310, wherein the gate point 310 is positioned in the region of the proximal edge of the prosthesis socket on the palmar side, i.e., the inside of the prosthesis socket.The second material B then gradually displaces the first material A, whereby due to the position of the gate point 310, the material A in the vicinity of the gate point 310 is initially displaced by the material B, which is softer in the cross-linked state. The degree of displacement of the harder material A results from the fixed amount of the second material B introduced. As an alternative to completely filling the mold 300 with the first material A, the mold 300 can also be only partially filled with the first material 300 and then filled with the softer material B.

[0064] After the prosthetic mold 300 has been completely and finally filled with the material having different hardnesses or with the different materials having different hardnesses, the filling process is terminated and the material crosslinks(s). This results in a one-piece prosthetic hand which, in the fully crosslinked state, has different regions with different hardnesses. In particular, in the region of the prosthetic socket 10 on the back of the hand, in a dorsal region 102, the prosthetic socket 10 and the prosthetic hand have a greater Shore hardness than in a palmar region 104. In the right-hand illustration of Figure 7, in which the fully formed prosthetic hand is shown without the mold 300, this is indicated by the dashed line, which represents a transition region in which the softer material B mixes with the harder material A.On the dorsal side 102, a ridge or rib is formed from the harder material A, while in the palmar region of the forearm, a soft, elastic region is formed from material B. The end section 18 consists entirely of the harder material A and is preferably solid. The greater Shore hardness in the distal end section 18 allows for greater stability, allowing for a greater clamping force when an inserted counterpart 20, for example, a thumb part, is used.

[0065] At the proximal end of the prosthetic socket 10, a tab 110 can be formed in the dorsal region, at which the user can grasp the stable tab 110 made of the harder material with the untreated hand. The softer material area in the palmar region 104 makes it easier to put on and take off the prosthesis and offers more adaptation options to different stump shapes. On the outside of the prosthetic socket 10, material weakenings 11 or curved lines can be seen, which allow the prosthetic socket 10 to be shortened along the material weakenings 11. The shape of the material weakenings 11 is selected such that the tab 110 resulting after shortening forms the proximal end of the prosthetic socket 10 and the socket edge runs in a curved shape with a shortening in the dorsal region 104. The illustrated distribution of the material orThe different hardnesses of materials A and B are shown as an example distribution; other distributions are also conceivable. More than two different materials with different Shore hardnesses in the crosslinked state are also possible.

[0066] Figure 8 shows representations of a variant of a prosthetic hand with a prosthetic shaft 10 and a counterpart 20, which is designed as a holder for a cutlery element. The counterpart 20 has a shaft that is inserted and received in the prosthetic shaft 10. In the illustrated embodiment, the shaft of the counterpart 20 projects through the prosthetic shaft 10 and has a receptacle 22 at its distal end, into which a tool, for example a fork, a spoon or a knife, can be inserted. The receptacle 22 is formed by a free space between the counterpart 20 and a holder 24. The holder 24 clamps, for example, the tool or the cutlery item. The upper left illustration shows that the cutlery item can be held and fixed in different alignments or orientations within the receptacle 22.This can be achieved, for example, by clamping the cutlery piece between the holder 24 and the counterpart 20. Additional securing or holding devices, such as magnetic elements or positive locking devices, can also be provided. Alternatively, the cutlery piece can be fixed within or on a holder 24, which can then be displaced relative to the counterpart 20, for example, via locking recesses into which a holder 24, either spring-loaded or pre-tensioned by another securing device, can be engaged.

[0067] Figure 9 shows a variant of the holder 24. In the right-hand illustration of the prosthetic hand, the holder 24 is also inserted into the counterpart 20. The counterpart 20 has a recess or bore at its distal end into which the conically shaped holder 24 is inserted. The holder 24 has one or more slots, into one of which the cutlery item is inserted, with the holder 24 already located in the recess or bore. If the holder 24 is inserted further into the recess or bore within the counterpart 20, the conical design of the holder 24 narrows the slot and the cutlery item, a fork in the illustrated embodiment, is clamped in. The left-hand illustrations in Figure 9 show different designs of the holder 24.Due to the truncated cone-like design of at least part of the holder 24, it is freely rotatable within the counterpart 20 and is fixed in the desired position by being pressed into the recess of the counterpart 20. The rotatability about the longitudinal axis of the truncated cone is indicated by the arrows. The slots within the holder 24 can be formed at different angles relative to the end surfaces to allow for different orientations of the tool or cutlery piece.

[0068] Figure 10 shows a prosthetic hand with a prosthetic socket 10 and a counterpart 20 arranged thereon, wherein the counterpart 20 has a movable component 26 at its distal end, which can be actuated via a cable 30. The movable component 26 is shown in a side view in Figure 11 and is designed as a tip that can be displaced about a pivot axis. The movable component 26 can thus be displaced towards the distal end section 18 or the end part 180 or moved away from it. The movable component 26 can be spring-loaded so that after the tensile force on the cable 30 is removed, the movable component 26 returns to its original position. A cable guide 35 is arranged at the proximal end of the prosthetic socket 10; in the illustrated embodiment, the cable guide 35 is attached to the proximal edge of the prosthetic socket 10.In the upper left illustration of Figure 10, it can be seen that the cable guide 35 has a spring-loaded mechanism such that a lower tab of the cable guide 35 is folded open, the cable guide 35 is pushed onto the prosthetic socket 10, and then, once the actuating force is removed, the cable guide 35 is held in place by a clamp. Alternatively, the lower tab is arranged or formed on the underside of the cable guide 35 via a film hinge joint or another elastic component or an elastic bearing and can be pushed onto the prosthetic socket 10 for clamping. Within the cable guide 30, at least one slot is formed through which the cable 30 can be guided to the counterpart 20. The course of the cable 30 along the longitudinal extent of the prosthetic socket 10 is determined by the cable guide 35.The cable pull 30 can be designed in several parts. In the right-hand illustration of Figure 10, the cable pull 30 is guided through the cable pull guide 35 from distal to proximal and has a strap at its proximal end, which is connected, for example, to a contralateral shoulder or another body part, so that the cable pull 30 is tensioned by a corresponding displacement of the prosthetic socket 10 away from the body and, conversely, is relaxed by a reverse movement. As an alternative to a cable pull 30, this can also be designed as a strap, cable, or the like, whereby all force transmission means that exceed tensile forces are considered to be a cable pull.

[0069] Figure 11 shows a multi-part design of the cable pull 30. The distal part of the cable pull 30 is guided within the counterpart 20 to the movable component 26. The proximal component of the cable pull 30 can be attached to it via a connecting element, for example a magnetic coupling, a clip connection, a hook, a screw connection, or a combination of several of these connection principles, or via other connecting elements.

[0070] Figure 12 schematically illustrates the use of a prosthetic hand with a driven, movable component 26 on the counterpart 20. The counterpart 20 has a movable component 26 at its distal end, which is displaced relative to the counterpart 20 by the cable 30. In the middle illustration, the counterpart 20 has not yet been inserted into the prosthetic socket 10; the left illustration shows that the cable 30 is attached to the shoulder on the contralateral side, not equipped with the prosthetic hand, and can be tensioned or relaxed by a corresponding relative displacement. Depending on the tension, as shown in the lower illustration of Figure 12, the movable component 26, which can also be held pre-tensioned in an initial position, can be displaced against the spring force, resulting in an opening or closing movement.Such a movement can be seen in the right-hand illustration of Figure 12. When the cable 30 is pulled in the direction of the arrow, the movable component 26 is displaced toward the end section, resulting in a closing movement that allows, for example, an object to be held. If the pulling force is reduced, the movable component 26 opens accordingly. Alternatively, a reversal of movement occurs, whereby, with a relaxed cable 30 in the closed position, the movable component 26 is held by spring force and is opened by pulling on the cable 30.

[0071] A further variant of the counterpart is shown in Figure 13, in which a holder is formed at the distal end of the counterpart 20, which in the illustrated embodiment allows the accommodation of a mobile phone. Magnets 28, for example, are arranged at the distal end of the counterpart 20 in order to hold the mobile phone or a holder of the mobile phone force-fittingly to the counterpart 20. Within the counterpart 20, there may also be a recess through which a projection or a pin is passed so that the mobile phone or another device is rotatably mounted on the counterpart 20. The rotatability is shown in the right-hand illustration of Figure 13.

[0072] Figure 14 shows a cross-sectional view of a prosthetic hand with the prosthetic socket 10. In addition to the receiving space and the distal end section, inserts 40 can be seen in Figure 14. The inserts 40 have increased rigidity compared to the remaining material of the prosthetic socket 10 or the end section. The proximal insert 40 is bowl-shaped or cup-shaped and has a contour corresponding to the receiving space 16. The insert 40 can ensure increased stability in the receiving space for receiving the forearm stump. The insert 40 in the end section increases the rigidity within the distal end section and acts as an effective counterbearing for the counterpart, which is not inserted within the prosthetic socket in Figure 14.The inserts 40 can be made of different materials, the stiffness of the individual inserts can be different from one another, so that an adapted stiffness can be set in the respective areas of the prosthetic hand or the prosthetic shaft.

[0073] Figure 15 shows a variant of the counterpart 20 within the prosthetic socket 10. The counterpart 20 in turn has a movable component 26 at the distal end, which in the illustrated embodiment is designed as a mechatronic component. At the proximal end of the counterpart 20, an actuating element 50 is arranged, via which the movable component 26 can be displaced by a drive arranged either in the prosthetic socket 10 or in the counterpart 20. The displaceability is represented by the double arrow; in the left-hand illustration, the movable component 26 is shown in an open position. After activation of the motor drive via the actuating element 50, it can be displaced into the position shown in the right-hand illustration of Figure 15.

[0074] Figure 16 shows the actuating element 50 in combination with the counterpart 20 in more detail. In the left-hand illustration of Figure 16, the actuating element 50 is shown as a touch-sensitive field or display, in which a swiping movement in one direction or the other causes the movable component 26 to open or close. The middle illustration of Figure 16 shows a sectional view of the prosthetic hand with the actuating element 50 on the upper side or dorsal side of the prosthetic socket. The right-hand illustration shows the counterpart 20 with the actuating element 50 and the movable component 26. Instead of a touch-sensitive control field, the actuating element 50 can also have keys, buttons, or sliders to effect a displacement of the movable component 26 relative to the other components of the counterpart 20 and the prosthetic hand.If both the necessary control software as well as memory, drives and energy storage are arranged within the counterpart 20, this can be manufactured separately as a modular component and inserted into the corresponding recess within the prosthesis shaft 10.

[0075] Figure 17 shows different views of a variant of a prosthetic hand with a magnetic insert 40 in the palmar region of the end section, allowing magnetic or magnetizable elements, such as a set of keys, to be held on the inside of the end section. In Figure 17, no counterpart is arranged in the prosthetic socket 10; this can be inserted into the prosthetic socket in addition to the insert 40. In the illustrated embodiment, the form-locking elements are arranged around the magnetic insert 40 to provide additional security for the objects to be picked up.

[0076] In Figure 18, the counterpart 20 is formed from different materials. A first material, which forms the proximal shaft and a bow, is comparatively rigid, while a second material forms a spring component 29. The spring component 29 is shaped such that it forms a partially soft tip in the distal region of the counterpart and, with an opposite region of the counterpart 20 made of the rigid material, encloses a free space 200. The free space 200 in the illustrated embodiment is round, oval, or prism-shaped. The spring component, which can be made of a significantly softer and more compliant material such as silicone, for example, enables objects to be clamped and held between the counterpart 20 and the end section 18 (not shown) of the prosthetic hand.The counterpart 20 with the spring component 29 and the clearance 200 can be manufactured using an additive manufacturing process using several different materials. Alternatively, the spring component 29 is subsequently attached to the counterpart 20.

[0077] In Figure 19, a counterpart 20 is made of several materials, with the distal end of the counterpart 20 being replaceably attached to a proximal shaft. The distal end of the counterpart 20 is secured to or within the shaft, for example, via a spring 25. The spring can be coupled to a hook 56, so that either the distal end of the counterpart 20 is held to the shaft or another component can be attached to or held on the counterpart via the hook, which is spring-mounted within the counterpart 20.

[0078] In Figure 20, various inserts 40 are arranged in the palmar region of the end section in addition to the form-locking elements 186. The inserts 40 can either be flush with the inner surface of the end section or protrude beyond the inner surface, so that additional form-locking elements or resistances as well as holders are present on the inner or palmar surface of the end section. The inserts 40 are arranged interchangeably within the end section.

[0079] Figure 21 shows a variant in which a rail 60 is placed in the intermediate region. The rail 60 stabilizes the intermediate region, providing increased stability against mechanical deformation. The rail 60 can extend over a large area of ​​the longitudinal extent of the prosthetic socket and the intermediate region into the end section and can have a recess for receiving and passing through the counterpart 20. Such a rail 60, which is shown separately from the prosthetic socket 10 in the right-hand illustration of Figure 21, can provide a high level of mechanical stability on a case-by-case basis. The rail 60 can be easily attached to and removed from the prosthetic socket 10, allowing the mechanical properties of the prosthetic hand to be easily and quickly modified.The splint 60 can be designed to be resilient in the circumferential direction and have lateral clips so that the open cross-section can be easily bent upwards. The splint 60 can be made of a fiber-reinforced plastic that is sufficiently light yet stable to ensure both a resilient fit and sufficient rigidity for the prosthetic hand.

[0080] Figure 22 shows a further variant in which a comparatively rigid counterpart 20 is opposed by an end section made of a very soft material, in particular a soft silicone, with inserts 40 embedded in the end section 18 to achieve sufficient stability. The soft design of the material around the inserts 40 ensures secure gripping or picking up of objects in the free space between the counterpart 20 and the end section 18.

[0081] Figure 23 shows a variant of the counterpart 20 in the form of an electronic component, in the example shown in the form of a flashlight. The counterpart 20, with corresponding batteries and actuating elements, is easy to insert into the prosthetic hand and expands the possible area of ​​application by illuminating means arranged in the distal region. In Figure 24, instead of a lamp or a mechatronic element, a touch tool is arranged as the counterpart 20. A touch-sensitive element on the distal region of the counterpart 20 enables the operation of smartphones, tablets, wearables, and similar touch-sensitive devices, thus facilitating the operation of electronic devices or interfaces with touch-sensitive displays.

[0082] Figure 25 shows a variant of the counterpart 20 in a multi-part design. The counterpart 20 has a distal attachment 27, which is replaceably arranged on the end region of the counterpart 20. In the illustrated embodiment, the attachment is designed as a fork; alternatively, it can also be designed as a spoon or another tool element that can be attached to the counterpart 20 as needed.

[0083] Figure 26 shows different embodiments of a hand prosthesis for children. The prosthetic shaft 10 each has an end section that can adapt to the different requirements and developmental stages of a small child. In addition to flattened or rounded end sections, as shown in the two right-hand illustrations, the end section can also be curved or claw-like, as shown in the lower left figure, in order to be able to clamp sticks or other objects into the elastic space, for example. The counterpart 20 can also be designed as a toy in one embodiment; if necessary, the end section can be designed as an image of an animal, a vehicle, or a fantasy figure in order to increase the acceptance of the prosthesis for the person using it.The entire prosthesis can have the shape of an animal, a plant, or an object that differs from the shape of a natural hand. List of reference symbols.

[0084] 10 - Prosthetic stem

[0085] 12 - Shaft wall

[0086] 14 - proximal insertion opening

[0087] 16 - Recording room

[0088] 17 - Intermediate area

[0089] 18 - Final section

[0090] 19 - Bracket

[0091] 20 - Counterpart

[0092] 22 - Recording

[0093] 24 - Holder

[0094] 26 - movable component

[0095] 27 - Essay

[0096] 28 - Magnet

[0097] 29 - Spring component

[0098] 30 - Cable pull

[0099] 35 - Cable guide

[0100] 40 - Use

[0101] 50 - Actuating element

[0102] 55 - Spring

[0103] 56 - Hook

[0104] 60 - Rail

[0105] 80 - Open space

[0106] 102 - Dorsal area

[0107] 104 - Palmar area

[0108] 110 - Tab

[0109] 122 - Recess

[0110] 162 - distal end area

[0111] 180 - End part

[0112] 181 - Shape memory material

[0113] 182 - Dorsal section

[0114] 183 - Chamber

[0115] 184 - Palmar section

[0116] 185 - Valve 186 - Form-locking element

[0117] 200 - Free space

[0118] 280 - Lower part

[0119] 300 - Form 310 - Gate point

[0120] 320 - Exit opening

[0121] 350 - Cavity

Claims

Patent claims 1 . A prosthetic hand with an elastic prosthetic shaft (10) having a shaft wall (12) and a proximal insertion opening (14) to a receiving space (16) for receiving an arm stump or a rigid shaft sleeve, and with a distal end portion (18) formed distally on the prosthetic shaft (10), characterized in that the distal end portion (18) is designed as a functional element.

2. Prosthetic hand according to claim 1, characterized in that the prosthetic shaft (10) is sleeve-shaped and can be rolled up.

3. Prosthetic hand according to claim 1 or 2, characterized in that the receiving space (16) has a distal end region (162) and the functional element (18) projects distally beyond the end region (162).

4. Prosthetic hand according to one of the preceding claims, characterized in that at least one recess (122) is formed in the shaft wall (12).

5. Prosthetic hand according to one of the preceding claims, characterized in that at least one holder (19) for at least one tool or at least one counterpart (20) is arranged or formed between the prosthetic shaft (10) and the distal end section (18) in an intermediate region (17).

6. Prosthetic hand according to claim 5, characterized in that the holder (19) extends through the intermediate region (17).

7. Prosthetic hand according to claim 5 or 6, characterized in that the holder (19) is arranged or designed such that a held tool or the counterpart (20) is positioned at a distance from the end section (18) or rests against the end section (18).

8. Prosthetic hand according to one of the preceding claims, characterized in that the end portion (18) is elastic.

9. Prosthetic hand according to one of the preceding claims, characterized in that at least one reinforcing element, at least one fastening element, a shape memory element, a spring (181) and / or at least one magnet are / is arranged in the end section (18).

10. Prosthetic hand according to one of the preceding claims, characterized in that the end section (18) has a flat end part (180) with a dorsal section (182) and a palmar section (184).

11. Prosthetic hand according to claim 10, characterized in that at least one form-fitting element (186) is formed or fastened to the palmar section (184) and projects in the palmar direction.

12. Prosthetic hand according to claim 10 or 11, characterized in that the end section (18) has a lower part (280) opposite the end part (180) which forms a free space (80) between itself and the end part (180).

13. Prosthetic hand according to one of the preceding claims, characterized in that the material of the prosthetic shaft (10) and the end section (18) has different Shore hardnesses, in particular the Shore hardness of the end section (18) or a transition region is higher than that of the prosthetic shaft (10).

14. Prosthetic hand according to one of the preceding claims, characterized in that the prosthetic shaft (10) has a palmar region (104) and has a dorsal region (102) and the dorsal region (102) has a greater Shore hardness than the palmar region (104).

15. Prosthetic hand according to one of the preceding claims, characterized in that a coating is applied to the outer side of the prosthetic hand.

16. Prosthetic hand according to one of the preceding claims, characterized in that at least one chamber (183) with a valve (185) or for receiving a stiffening element is formed or arranged in the prosthetic shaft (10).

17. Prosthetic hand according to one of the preceding claims, characterized in that the prosthetic shaft (10) and the end section (18) are formed in one piece.

18. A method for producing a prosthetic hand according to one of the preceding claims, characterized in that it is produced in one piece and a prosthetic mold (300) is filled from a sprue point (310) against the direction of gravity.

19. The method according to claim 18, characterized in that the prosthesis mold (300) is first filled with a first material (A) which, in a cross-linked state, has a greater Shore hardness than a second material (B) in the cross-linked state, and that the second material (B) is subsequently filled into the first material (A) and displaces the first material (A) in the distal direction of the prosthesis mold (300).

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