Hip adduction and abduction training mechanism

Abstract

Disclosed is a hip adduction and abduction training mechanism (600), wherein an arc-shaped track (610) is engaged at the lower part of the distal end of a linear guide rail (110), is in an arc shape that coincides with a trajectory of rotation in which the distal end of a base is the center of a circle and the length of the base is the radius, and is provided with meshing teeth (611) on an inner concave surface thereof; a gear is correspondingly connected to and meshes with the lower part of the distal end of the linear guide rail (110); the gear is provided with a rotatable shaft (621); and two adduction and abduction training ropes (630) are respectively connected to two sides of the shaft, or, only one adduction and abduction training rope (630) penetrates the shaft and is fixedly connected to two sides of the shaft, and then the two adduction and abduction training ropes or the two segments of the adduction and abduction training rope extend to two sides of the proximal end of the base along the linear guide rail and are detachably fixed to the two sides, allowing for trainees to pull with their upper limbs. The present utility model enables a patient to undergo training of multiple degrees of freedom that integrates multiple modes, such as passive, assisted and active modes, as early as possible when in a recumbent position, with the range of adduction and abduction reaching up to 45°, thereby effectively promoting the early rehabilitation of the patient.

Description

A hip adduction and abduction training mechanism Technical Field

[0001] This utility model relates to a medical device, and more particularly to a hip joint adduction and abduction training mechanism. Background Technology

[0002] With the rapid development of science and technology in today's society, people's living standards have greatly improved. China also faces the same problems as many other countries in the world: it is rapidly entering an aging society. Because many elderly people suffer from neurological or cerebrovascular diseases, the incidence of these diseases is increasing every year; among stroke patients, approximately 70% to 80% will experience varying degrees of lower limb motor dysfunction.

[0003] In recent years, with the rapid development of intelligent rehabilitation technology, lower limb rehabilitation robot technology, through weight reduction and repeated training of standardized normal physiological gait, enables patients with lower limb movement disorders to undergo scientific and effective rehabilitation training, thereby restoring their walking ability. However, in clinical practice, this training model has been found to be less effective in restoring limb function for patients with muscle strength below grade three or those with Parkinson's disease. Exoskeleton systems, based on bionic principles and with a structure close to anatomy, can organically combine robotics technology with rehabilitation therapy, assisting patients in specific joint training and improving physical function; however, only 55% of patients receiving rehabilitation therapy regain their walking ability.

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

[0005] To better facilitate the recovery of muscle strength in patients with lower limb dysfunction before standing training, and to make lower limb walking training feasible, thereby promoting the recovery of lower limb walking function, literature reports that experts have designed training modes for lower limb rehabilitation robots with two degrees of freedom and three combined degrees of freedom. One such mode involves core muscle training in a supine position. While this training program can promote safe and early lower limb rehabilitation, it still has shortcomings. The training mode of the two-degree-of-freedom lower limb rehabilitation robot is essentially a passive hip and knee training mode, failing to consider the ankle joint's own range of motion and training status. Foot training plays a crucial role in the rehabilitation of lower limb function. Although the three-degree-of-freedom lower limb rehabilitation robot is designed to meet the rehabilitation movements of the thigh, calf, and ankle joints, its drive mechanism only uses hydraulic drive and lacks resistance training, making it very difficult to restore lower limb muscle strength.

[0006] To enable the researched and developed lower limb rehabilitation training device to be used for patients with lower limb dysfunction caused by neurological damage, hip fracture, or both stroke and hip fracture, for multi-joint, multi-range, anti-spasticity, and resistance training of the lower limbs, the applicant has also designed an intelligent multi-functional lower limb rehabilitation training device, with application number CN202210340685.9 and invention title "Intelligent Multifunctional Lower Limb Rehabilitation Training Integrated Machine". However, during further research and development, the following defects were found in the hip joint adduction and abduction training mechanism of this integrated machine:

[0007] 1) Training can only be conducted under a power system. Clinical applications have shown that passive training can only be used for short periods, while active training is the best way to promote better recovery of limb function and overall physical and mental health in patients.

[0008] 2) Only single-limb training mode is available; multi-limb coordination is not supported.

[0009] 3) When performing hip adduction and abduction training, the range of motion on the transverse track should be limited to 0-5 degrees. If the range of motion is too small, the training effect will be limited.

[0010] 4) The foot support has limited mobility and freedom of movement. During internal and external rotation training, the ankle and toes cannot plantarflex, and can only passively perform internal and external rotation under dorsiflexion. This prevents the muscles from being in a free and relaxed state for activity, which can easily damage the muscles and ligaments and may cause tension in the sensory muscles of the ankle joint.

[0011] 5) The angle of the feet is fixed, making it impossible to use equipment to relax the lower limbs through foot relaxation techniques, and also impossible to use equipment for anti-spasm operations.

[0012] Utility Model Content

[0013] The technical problem to be solved by this application is to provide a hip joint adduction and abduction training mechanism that integrates passive, assisted, and active methods, which can be performed as early as possible while the patient is in a supine position, and the adduction and abduction arc can reach 45°, effectively promoting the patient's early recovery.

[0014] To solve the above technical problems, this utility model provides a hip joint adduction and abduction training mechanism, including a base and a flexion-extension support; the base body is a linear guide rail connected to a head connector, and the linear guide rail has a linear groove along its length; the flexion-extension support is composed of a thigh support, a lower leg support, and a foot support that are rotatably connected in sequence; the outer end of the thigh support is rotatably connected to the head connector, and the bottom end of the foot support is connected to a flexion-extension roller, which can reciprocate on the linear groove to realize the reciprocating flexion and extension of the flexion-extension support above the base; characterized in that...

[0015] An arc-shaped track is fitted at the lower end of the linear guide rail. The arc shape is the same as the trajectory of rotation with the end of the base as the center and the length of the base as the radius. The concave surface of the arc shape is provided with meshing teeth. A gear for inward and outward movement is rotatably connected vertically at the corresponding position at the lower end of the linear guide rail. The gear for inward and outward movement meshes with the meshing teeth.

[0016] The inward and outward gear has a rotatable spindle, and two inward and outward training ropes are respectively connected to both sides of the spindle, or only one inward and outward training rope is fixedly connected to both sides of the spindle of the inward and outward gear, and then extends along the linear guide rail to both sides of the first end connector of the base for detachable fixation.

[0017] The gear for inward and outward movement is an I-shaped gear, with gears at the upper and lower ends and a spindle in the middle. Correspondingly, the meshing teeth are two parallel rows. The I-shaped gear for inward and outward movement is engaged in the I-shaped groove of the linear guide rail.

[0018] The ends of the pair of inward and outward training ropes can be hung on the fixed positions or hanging rings on both sides of the first end connector of the base.

[0019] The first end connector is also equipped with a hook to secure the rope when it is pulled to a certain extent and needs to be positioned.

[0020] The middle portion of each of the inward and outward training ropes passes through rope fixing tubes set on both sides of the linear guide rail.

[0021] A support plate is provided outside the foot support plate of the foot bracket. The lower end of the support plate is hinged to the heel of the foot support plate, while an elastic component is provided between the upper end of the support plate and the forefoot of the foot support plate.

[0022] An encapsulation shell is used to encapsulate the elastic component between the foot support plate and the support plate.

[0023] The elastic component is a spring or a hydraulic rod.

[0024] An electrical control box is connected to the end of the linear guide rail. The control box has a built-in power supply or can be connected to a power supply, and has a control display screen and control buttons. The wire interface extending from the electrical control box is electrically connected to the circuit connector at the hollow part of the lower part of the linear guide rail. The electrical control box is plugged into the interface on the linear guide rail through a plug-in post.

[0025] The spindle of the gear for inward and outward movement has a built-in fourth motor (0) for automatic inward and outward movement training; the fourth motor is electrically connected to the electrical control box to achieve control.

[0026] Compared with the prior art, the main beneficial effects of this utility model are:

[0027] 1. Combining rigidity and flexibility, the addition of adduction and abduction training ropes allows the healthy upper limb to actively assist the affected lower limb in training. Pulling the ropes with the upper limb causes the adduction and abduction gears to move left and right on an arc-shaped track, achieving hip adduction and abduction. Active training can be performed with coordinated movement of two or three limbs, significantly enhancing the effectiveness of the training shoes.

[0028] 2. The hip joint adduction and abduction training mechanism uses an arc-shaped track, which expands the range of adduction and abduction to 0-45 degrees, further improving the training effect.

[0029] 3. In a further technical solution of this utility model, an elastic component is used to support the footrest and the support plate. The footrest and support plate are rotatably connected, preventing the foot from being fixed at a fixed angle. Instead, the angle can change and rebound with each step, increasing the foot's freedom of movement. Whether in internal / external rotation training, flexion / extension training, or adduction / abduction training, the foot can freely dorsiflex and plantarflex, allowing for greater ankle joint relaxation. This not only avoids sports injuries but also greatly improves training effectiveness and aligns with the ankle pump training mode for preventing lower extremity deep vein thrombosis. Many elderly people have poor compliance with self-directed ankle pump training after iliopectomy; this machine can replace active training and also achieve the effect of preventing lower extremity deep vein thrombosis.

[0030] Furthermore, utilizing the rebound assistance of this structure, rotational relaxation exercises of the entire lower limb can be easily achieved. This method realizes the relaxation training of the five meridians in traditional Chinese medicine, providing a comfortable experience for the patient. Lower limb muscles are relaxed through rotation, and because it is also a meridian therapy, it can unblock the meridians, promote smooth blood circulation, and further effectively prevent deep vein thrombosis in the lower limbs. In clinical practice, it has been found that assisting patients with whole-body lower limb movements in a supine position through manual techniques can promote rapid recovery of muscle strength and tone.

[0031] This utility model device is based on the applicant's successful experience in various manual therapy methods. It integrates passive, assisted, and active functional training modes, as well as ankle and hip joint training modes, into one machine. This machine is also small in size and easy to carry, making it very convenient to operate for medical staff, caregivers, and patients themselves. Moreover, it has a clever and simple structure and low cost.

[0032] In a further technical solution, this utility model also adopts electric control, which can start the motor when the patient is completely unable to perform active training or assisted training, so as to start rehabilitation training as soon as possible. Attached Figure Description

[0033] Figure 1 is a three-dimensional schematic diagram of the rehabilitation training device containing the hip joint adduction and abduction training mechanism of this utility model.

[0034] Figure 2 is a three-dimensional schematic diagram of the rehabilitation training device containing the hip joint adduction and abduction training mechanism of this utility model from another angle.

[0035] Figure 3 is a three-dimensional schematic diagram of the connection between the arc track and the gear of this utility model.

[0036] Figure 4 is a schematic diagram of the gear connection position of this utility model.

[0037] Figure 5 is a diagram showing the motor connection of this utility model. Detailed Implementation

[0038] The technical solutions of the preferred embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0039] For ease of description, referring to Figure 1, the thigh support end of the device is defined as the head end, and the end with the electrical control box and foot support is defined as the tail end. When describing the direction of movement, refer to the feeling when a person's leg is placed on the training device. Moving the foot towards the electrical control box is defined as forward, and moving the foot towards the thigh is defined as backward.

[0040] As shown in Figures 1-2, the overall device containing the hip joint adduction and abduction training mechanism of this utility model is a multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility. It mainly includes a base 100, a flexion and extension support 200, a hip and knee joint flexion and extension training control mechanism, an ankle joint dorsiflexion and plantar flexion training mechanism 400, a hip and ankle joint internal and external rotation training mechanism 500, and a hip joint adduction and abduction training mechanism 600. The main body of the base 100 is a linear guide rail 110, which is connected to a head connector 120. The linear guide rail has a linear groove 111 along its length. The flexion and extension support 200 is composed of a thigh support 210, a lower leg support 220, and a foot support 230 that are rotatably connected in sequence. The outer end of the thigh support 210 is rotatably connected to the head connector 120. The bottom end of the foot support 230 is connected to a flexion and extension roller 231, which can reciprocate on the linear groove 111 to realize the flexion and extension of the flexion and extension support above the base.

[0041] This utility model relates to an improvement of a hip joint adduction and abduction training mechanism 600.

[0042] As shown in Figures 1-5, the hip joint adduction and abduction training mechanism 600 of this utility model includes: an arc-shaped track 610 is fitted at the lower end of the linear guide rail 110, the arc of which is the same arc as the trajectory of rotation about the end of the base as the center and the length of the base as the radius, so that the adduction and abduction arc can be up to 45°, and the inner concave surface of the arc is provided with meshing teeth 611, the meshing teeth preferably being two parallel rows of upper and lower teeth; an I-shaped adduction and abduction gear 620 is rotatably and vertically fitted in the I-shaped groove 622 at the corresponding position at the lower end of the linear guide rail 110, the upper and lower ends being gears, and the middle being a spindle 621, the gear surface The gear 620 engages with the meshing teeth 611. It has a rotatable spindle 621, with two adduction / abduction training ropes 630 connected to both sides of the spindle, or a single rope 630 fixedly connected to both sides of the spindle. This rope extends along the linear guide 110 to the ends of the base and is detachably fixed to both sides of the connector 120, allowing the user to pull it with either hand, driving the gear 620 to roll back and forth on the meshing teeth 611. This causes the linear guide 110 to swing left and right in an arc, achieving active adduction / abduction training of the hip joint. For patients unable to train independently, early and timely training is necessary. A motor 740 for automatic adduction / abduction training is built into the spindle 621 of the gear 620, providing passive training, as shown in Figure 5.

[0043] For ease of use, the middle portion of the inward and outward training pull rope 630 passes through the pull rope fixing tubes 160 set on both sides of the linear guide rail 110. The ends of the pull rope can be hung on the fixing positions or hanging rings 631 on both sides of the first end connector 120 of the base. The first end connector 120 is also provided with hooks 125 to fix the rope when it is pulled to a certain extent and needs to be positioned.

[0044] An electrical control box 700 is connected to the end of the linear guide rail 110. The control box has a built-in power supply or can be connected to a power source, and includes a control display screen 701 and control buttons 702. An electrical wire interface 703 extends from inside the control box and is electrically connected to a circuit connector 113 located in the hollow lower part of the linear guide rail 110. The control box 700 is plugged into an interface 112 on the linear guide rail 110 via a plug-in post 704. The motor 740 is electrically connected to the control box for control.

[0045] To provide greater comfort and freedom of movement for the patient's feet, a support plate 410 is installed outside the foot support plate 232 of the foot bracket 230. The lower end of the support plate 410 is hinged to the heel of the foot support plate 232, while an elastic component 420 is provided between the upper end of the support plate and the forefoot of the foot support plate 232. The elastic component can be a spring or a hydraulic rod; in this embodiment, nine hydraulic rods are preferably arranged in a circle. The elastic component 420 is encapsulated between the foot support plate 232 and the support plate 410 using a housing 421. In the initial natural state, the hydraulic rods are stretched. Due to the elastic component at the bottom of the foot support plate, the foot has room to move after being placed in the foot support plate, allowing for free and dynamic adjustment according to the required range of motion of the ankle joint. This prevents the foot from becoming stiff and fixed at a fixed angle during adduction and abduction training.

[0046] Taking the left lower limb as an example, the working process of the hip joint adduction and abduction training mechanism of this utility model is illustrated below:

[0047] With the patient lying supine, place the training device parallel to the affected limb. Position the affected limb into the device according to the thigh, calf, and foot, adjusting the device to fit the size and length of the limb. For passive hip abduction and adduction training, with the lower limb extended, activate the corresponding motor 740. This drives the I-shaped gear to move inward and outward along the arc-shaped track, achieving hip abduction and adduction training. For assisted training, stop the motor and pull the adduction and abduction training rope 630 with both upper limbs to assist the device's movement along the arc-shaped track, achieving assisted hip abduction and adduction training. For active training, simply place the left lower limb on the device and apply appropriate force to move it inward and outward along the arc-shaped track, achieving active hip abduction and adduction training. During this process, due to the elastic components, the ankle and toe joints can freely perform plantar flexion and dorsiflexion movements.

Claims

A hip joint adduction and abduction training mechanism (600) includes a base (100) and a flexion-extension support (200); the main body of the base (100) is a linear guide rail (110), which is connected to a head connector (120), and a linear groove (111) is provided on the linear guide rail along its length; the flexion-extension support (200) is composed of a thigh support (210), a lower leg support (220), and a foot support (230) that are rotatably connected in sequence; the outer end of the thigh support (210) is rotatably connected to the head connector (120), and the bottom end of the foot support (230) is connected to a flexion-extension roller (231), which can reciprocate on the linear groove (111) to realize the reciprocating flexion-extension of the flexion-extension support above the base; characterized in that, An arc-shaped track (610) is fitted at the lower end of the linear guide (110). The arc shape is the same as the trajectory of rotation with the end of the base as the center and the length of the base as the radius. The concave surface of the arc shape is provided with meshing teeth (611). A gear for inward and outward movement is rotatably connected vertically at the corresponding position at the lower end of the linear guide (110). The gear for inward and outward movement (620) meshes with the meshing teeth (611). The inward and outward gear (620) has a rotatable spindle (621), and two inward and outward training ropes (630) are respectively connected to both sides of the spindle, or only one inward and outward training rope (630) is fixedly connected to both sides of the spindle of the inward and outward gear (620) through it, and then extends along the linear guide rail (110) to both sides of the first end connector (120) of the base for detachable fixing. The hip joint adduction and abduction training mechanism according to claim 1 is characterized in that: The inward and outward gear (620) is an I-shaped gear with gears at the upper and lower ends and a spindle (621) in the middle. Correspondingly, the meshing teeth are two parallel rows of upper and lower teeth. The I-shaped inward and outward gear (620) is engaged in the I-shaped groove (622) of the linear guide rail (110). The hip joint adduction and abduction training mechanism according to claim 1 is characterized in that: The ends of the pair of inward and outward training ropes (630) can be hung on the fixing positions or hanging rings (631) on both sides of the first end connector (120) of the base. The hip joint adduction and abduction training mechanism according to claim 3 is characterized in that: The first end connector (120) is also provided with a hook (125) for fixing the rope when it is pulled to a certain extent and needs to be positioned. The hip joint adduction and abduction training mechanism according to claim 1 is characterized in that: The middle portion of each of the inward and outward training ropes (630) passes through the rope fixing tubes (160) set on both sides of the linear guide rail (110). A hip joint adduction and abduction training mechanism according to any one of claims 1-5, characterized in that: A support plate (410) is provided outside the foot support plate (232) of the foot bracket (230). The lower end of the support plate (410) is hinged to the heel of the foot support plate (232), and an elastic component (420) is provided between the upper end of the support plate and the forefoot of the foot support plate (232). A hip joint adduction and abduction training mechanism according to claim 6, characterized in that: The elastic component (420) is encapsulated in a shell (421) between the foot support plate (232) and the support plate (410). A hip joint adduction and abduction training mechanism according to claim 6, characterized in that: The elastic component (420) is a spring or a hydraulic rod. The hip joint adduction and abduction training mechanism according to claim 1 is characterized in that: An electrical control box (700) is connected to the end of the linear guide (110). The control box has a built-in power supply or can be connected to a power supply, and has a control display screen (701) and control buttons (702). The electrical control box has an extended wire interface (703) that is electrically connected to the circuit connector (113) at the lower hollow part of the linear guide (110). The electrical control box (700) is plugged into the plug interface (112) on the linear guide (110) through the plug post (704). A hip joint adduction and abduction training mechanism according to claim 9, characterized in that: The spindle (621) of the gear (620) for inward and outward movement has a built-in fourth motor (740) for automatic inward and outward movement training; the fourth motor (740) is electrically connected to the electrical control box to achieve control.

Images