362 results about "Articularis genus" patented technology

The invention provides an artificial intelligence auxiliary diagnosis method and system for a knee joint, and the method comprises the steps: synchronously collecting a multi-angle dynamic X-ray image and six-degree-of-freedom contact force distribution data in an articular cavity, dynamically tracking a patella sliding track, and generating a mechanical phase track; a personalized knee joint model is constructed in combination with the biological parameters of the lower limbs of the patient, the mechanical phase trajectory and the contact force data vector are superposed to generate a dynamic mechanical fingerprint, and then the dynamic mechanical fingerprint is mapped into a biomechanical attribute map; electromyographic signal time-frequency characteristics and tibia rotation angles in the movement process are collected, an electromyographic activation mode is constructed, and the electromyographic activation mode and a biomechanical attribute map are subjected to characteristic fusion to form a joint dynamics comprehensive contour; analyzing a stress wave conduction path by using a joint anomaly dynamic propagation model to identify a compensatory injury mode; a diagnosis map is generated according to the recognition result, a preset biomechanical constraint condition is matched to correct the diagnosis map, and an individualized rehabilitation strategy is formulated. The treatment effect is improved, and the recovery speed of a patient is increased.

A patient specific instrument is disclosed for correcting a condition present in a patient. The patient specific instrument includes a body that includes an inferior side having a bone engagement surface shaped to match a first surface of a first bone and a second surface of a second bone of a joint. The instrument also includes a superior side having a first guide feature and a second guide feature that together, with the bone engagement surface overlying the first surface and the second surface, are positioned to guide resection of the first bone and the second bone during a surgical osteotomy for correcting the condition. The body is configured to seat transverse to the joint with the bone engagement surface engaging the first surface of the first bone and the second surface of the second bone.

A method includes receiving by a controller, a surgeon-specific surgery profile for an implantation of an implant into a joint, implant profiles, a patient-specific post-surgery desired functional profile of the joint after the implantation, and bone registration data for a first bone member and a second bone member of a patient are inputted into a surgical plan model to generate a surgical plan. The surgical plan model is designed to achieve the patient-specific post-surgery desired functional profile based at least in part on a plurality of dependencies between a plurality of surgical parameters, the implant profiles, at least one functional parameter representative of the expected functional performance of the joint, and movement-related data of the joint. The surgical plan is outputted on a graphical user interface (GUI) on a surgery assistant device to facilitate the implantation.

The invention relates to the technical field of exoskeletons, in particular to a high-degree-of-freedom light lower limb assisting exoskeleton. The invention provides a high-degree-of-freedom light lower limb assisting exoskeleton. The high-degree-of-freedom light lower limb assisting exoskeleton comprises a back assembly, a waist assembly, hip joint motors, thigh assemblies, knee joint motors, shank assemblies and ankle joint and foot assemblies which are sequentially connected. Wherein the thigh assembly comprises a hip joint motor connecting piece, a thigh rod and a knee joint motor connecting piece which are connected in sequence, and the end, close to the hip joint motor connecting piece, of the thigh rod is hinged to the hip joint motor connecting piece through a first hinge shaft. The multi-degree-of-freedom hip joint mechanism and the multi-degree-of-freedom knee joint mechanism are adopted, so that the exoskeleton can better coincide with contour curves of all parts of a human body and better adapt to complex movement of human joints, and the problems that the exoskeleton is poor in wearing comfort, effective assisting force is lost and the like due to man-machine discordance are solved.

The present invention relates to a system for determining the angle of osteotomy. The system comprises a plurality of liners, a pressure measurement apparatus and a processing module. Each liner comprises a liner body having an upper surface and a lower surface. A longitudinal distance between a slope region of each upper surface and a planar region of the upper surface gradually increases from a position near the geometric symmetry central axis of the liner to both sides of the liner, so as to define the degree of a tilt angle. The pressure measurement apparatus is used for measuring a pressure applied by each of two extremity sides of a bone joint, so as to determine a pressure difference value. The processing module is configured to determine an angle of osteotomy for the extremity sides on the basis of the tilt angles of the liners that balance the tension of the two extremity sides. The present invention restores the tension condition in a real working state of a joint before osteotomy and takes into account the balance state of the tension of soft tissue as a consideration for the angle of osteotomy, thereby effectively solving the problem of unbalanced tension between soft tissue at the inner and the outer sides of knee joints after total knee arthroplasty, and keeping the original mechanical performance of knee joints of patients after surgery.

The invention relates to a control method of an artificial limb knee joint. According to the technical scheme, the control method comprises the steps that a heel pressure sensor signal Ph, a sole pressure sensor signal Pf and an inclination angle theta and an angular velocity omega output by a shank inertial measurement unit are obtained in real time; when it is detected that the Pf decline rate exceeds a preset multiple threshold value of the heel pressure decline rate, dynamically calibrating an inclination angle reference theta base and calculating an offset theta cal; dividing six stages of a gait period based on the theta < cal > and the pressure signal, and calculating period duration T; a step speed-damping mapping knowledge base is constructed, and the damping opening degree in the early stage of swing is optimized through iterative learning; finally, the adjusted U value is applied in the early stage of swinging, and fixed damping is kept in other stages. The method is mainly used for improving the walking naturalness and terrain adaptability of the artificial limb at different speeds.

This conversion device acquires skeleton information in which a plurality of joints included in a human body and coordinates for the plurality of joints are set, and reference posture information in which a plurality of joints included in the human body and reference coordinates for the plurality of joints are set. The conversion device specifies, from the plurality of joints set in the bone information, a second joint corresponding to the first joint set in the reference posture information. The conversion means calculates a relative rotation angle from a reference coordinate of the first joint to a coordinate of the second joint, and sets the relative rotation angle in the hierarchical structure data, thereby converting the bone information into the hierarchical structure data.

An insert for use in a knee prosthesis is disclosed. In one embodiment, the insert includes a medial compartment and a lateral compartment. The medial compartment includes a top surface having a concave surface or curve with a more posterior sulcus and increased anterior lip. The lateral compartment includes a top surface having at least a segment or portion with a convex surface or curve. Thus arranged, the insert is arranged and configured to provide improved stability for varying grades of PCL deficiencies compared to existing inserts that have a mid-line sulcus and lateral convexity. In addition, the insert provides improved lateral posterior translation compared to existing designs with a concave or flat lateral articulation that lack a lateral posterior convexity.

A method for designing a uni-compartmental orthopaedic prosthesis includes generating a three-dimensional statistical model of a knee joint, determining a curvature of a section of a bone of the knee joint represented by the three-dimensional statistical model, and designing a section of the uni-compartmental orthopaedic prosthesis corresponding to the section of the bone of the knee joint to have a curvature that matches the curvature of the section of the bone of the knee joint. Additionally, a tibial and femoral uni-compartmental orthopaedic prosthesis are also disclosed, each of which includes a section having a curvature that matches a corresponding section of a corresponding bone of the knee joint represented by the three-dimensional statistical model.

In one implementation, we describe the semantics of skeleton joints of the avatar to be animated as a mapping to a highly-detailed skeleton model containing most or all of the joints and bones of human anatomy (the "reference skeleton"). Such a reference skeleton (e.g., the "LOA-4" version of the Web3D humanoid skeleton model) features detailed models of the hand and foot phalanges and joints for every vertebra of the spine. Owing to the level of detail of the reference skeleton, each joint of a user-defined animation skeleton can be mapped to one of the joints of the reference skeleton. The identification and location of each joint in the user-defined skeleton on the human body is thereby accurately and unambiguously described. Such semantics can be used in implementing some features of a virtual world platform, for example, in automated action or gesture recognition.

Disclosed in the present invention is a lower-limb-powered exoskeleton device for rehabilitation assistance, comprising ankle-joint sagittal-plane driving units, knee-joint sagittal-plane driving units, hip-joint sagittal-plane driving units, a hip-joint horizontal-plane driving unit, a joint driver connecting frame, a lower-limb fixing support, sensors, a controller and a power supply. Antagonistic-drive-type linear driving units are used in the sagittal plane of a hip joint so as to enable the bending and extension movements of the hip joint, and a linear driving unit having the function of self-locking when powered off is used in the horizontal plane of the hip joint so as to enable the turning movements of the exoskeleton; and a linear driving unit in cooperation with a magnetorheological brake is used in the sagittal plane of each knee joint, thereby significantly reducing the power consumption of a knee-joint driver while lowering the control difficulty. The powered exoskeleton device can help patients with an impaired lower-limb motor function to carry out walking rehabilitation training.

Disclosed herein is a system and method for performing pre-operative planning of total joint arthroplasty. The planning tool builds a model and analyzes and visualizes movement of the joint for various selections of implant models and placement of the components on the implants on the patient's anatomy. The tool also analyzes and visualizes motions of the joint during common activities of daily living and analyzes and functional ranges. The tool provides real time clinically relevant parameters to inform pre-surgery planning. The tool provides screw orientation visualization.

The invention discloses a lower limb exoskeleton robot layered cooperative walking aid control method. The method comprises the steps of data acquisition and preprocessing; human-machine coupling dynamics modeling is carried out, and required moments tau < hip >, tau < knee > and tau < ankle > of the hip joint, the knee joint and the ankle joint are obtained; low-layer joint control, including hip joint moment, knee / ankle virtual impedance moment and friction compensation calculation; middle-layer multi-axis cooperation and gait phase judgment; high-rise energy is optimally distributed, assistance is distributed to three joints in a phase and a safety boundary, meanwhile, the requirements for labor saving and stability are considered, a minimization problem is written in a unified mode, J serves as the total amount, and torque of the hip joint, torque of the knee joint and torque of the ankle joint are solved in a combined mode; according to the step-by-step self-adaption of myoelectricity driving, in order to cope with human body fatigue changes, step-by-step updating is carried out on the virtual stiffness within the movement distance. The method has the advantages of improving man-machine cooperation level, man-machine adaptability and walking aid efficiency.

In some embodiments, an implant configured to span a joint between a first bone and a second bone may include a proximal end configured to reside in the first bone, a distal end including threads configured to reside in the second bone distal to the first bone in response to rotation of the implant about an axis of rotation, an axis extending between the proximal end and the distal end, and an exterior surface extending from the proximal end to the distal end. The exterior surface may include a first recess formed therein. The first recess may include an undercut such that the first recess has a first perimeter at an exterior of the first recess, and a second perimeter, greater than the first perimeter, at an interior of the first recess, wherein the interior is closer to the axis than the exterior.

The invention discloses a lower limb of a robot and a humanoid robot. The lower limb of the robot comprises thigh parts; the hip joint is arranged at one end of the thigh part and is rotationally connected with the thigh part; the shank part is rotationally connected with the other end of the thigh part; the first dampers are arranged on the thighs and connected with the hip joints, and the first dampers are used for sharing loads borne by the hip joints and buffering movement of the hip joints; the second damper is arranged on the shank part and connected with the thigh part, and the second damper is used for sharing the load borne by the knee joint and buffering the movement of the knee joint. According to the lower limb of the robot, the passive load bearing capacity of the hip joint and the knee joint can be remarkably improved through the first damper and the second damper under the condition that the power of the joint active actuator is certain, the dampers can effectively share loads, locked-rotor energy consumption of the hip joint and the knee joint is reduced, stable operation of the joint is ensured, and the reliability of the robot is improved. Therefore, the movement is more efficient, safer and more reliable, and the service life loss of the motor is greatly reduced.

The present application relates to an intelligent knee joint for human lower limb exoskeleton, prosthesis, or orthosis. The intelligent knee joint reproduces part or all of the biomechanical characteristics of the human knee joint by adopting a motor drive unit in combination with a controllable spring energy storage unit based on a magnetorheological damper, or adopts a controllable resistance unit in combination with a controllable elastic energy storage unit based on a magnetorheological damper, thereby helping the wearer to better reduce the burden of walking and regain or repair the walking function. The motor drive unit operates in generator mode and driver mode, and the energy recovery technology is used to reduce the power consumption of the intelligent knee joint and extend the working time of the device. In addition, the use of a controllable elastic energy storage unit based on a magnetorheological damper further reduces the energy consumption of the intelligent knee joint, while also simplifying the control difficulty of the knee joint.

A bone fixator as disclosed herein includes at least one removable portion, and is particularly suitable for external fixation of the bones of the femur and tibia (knee joint), the tibia to the foot (ankle joint), the lower leg, the lower thigh, or the forearm and hand. Embodiments allow multiaxial, multiplanar movement, as well as procurvatum and recurvatum, on the anatomy to achieve optimal placement. Embodiments of the fixator includes four fixator joints, each of which is articulating with multiple degrees of freedom. Some fixator joint(s) include a linkage bar connectable to a multi-pin clamp having a quick connect mechanism. The multi-pin clamp is configured for fixation to a bone. Other fixator joint(s) may be connected to the multi-pin clamp in a semi-permanent or non-detachable manner. A telescoping rod assembly allows adjustment of the length of the fixator by a single individual.

An orthosis for support of a joint, adapted to the thumb or wrist, having sleeve-like main member made of an elastic material, adapted to envelop the joint and distal and proximal limb portions on either side of the joint, elastically deformable panel housed in a pocket formed in the main member, and non-elastic bracing device for bracing the main member and a proximal portion of the panel around the proximal limb portion, the panel being configured such that, over at least 50 % of the length of the main member along the limb portions, including a limb portion covered by the bracing device, the panel has a cross-section occupying more than 30 % of the perimeter of the underlying limb, the panel having a stiffness defined by a Young's modulus between S and 10 MPa, while the material forming the main member has a stiffness of a lower order of magnitude.

A distractor system for use in a joint between two bone surfaces of an anatomical structure includes, for example, distractor and at least one detachable tool comprising a body having a proximal portion and a distal portion, said proximal portion being releasably attachable to at least one of a first end of the distractor and / or a second end of the distractor. The distal portion of the detachable tool being operably positionable in the joint between the two bone surfaces of the anatomical structure. The detachable tools may include a detachable paddle.

The invention relates to the field of balance auxiliary control, and discloses a hip joint exoskeleton balance auxiliary control method and system, and the method comprises the steps: predicting the positions of an extrapolation center of mass (XCoM) and a pressure center (CoP) in the walking process of an exoskeleton in real time according to a deep learning model; comparing the relative position between the extrapolated center of mass (XCoM) and the pressure center (CoP), and judging the balance state of the human body; if it is found that the human body is about to lose balance, a hip joint angle adjustment value is calculated, so that the position of the pressure center (CoP) is located behind and / or outside the extrapolated center of mass (XCoM); according to the hip joint angle adjustment value, the balance of the exoskeleton is controlled, a balance assisting strategy of the hip joint exoskeleton is provided, prediction of the XCoM position and the CoP position in the human walking process is achieved, and when the relative position of the XCoM position and the CoP position exceeds a certain threshold value, the human body is unbalanced; at the moment, the exoskeleton can adjust the adduction / abduction angle of the hip joint to help the human body recover the balance state.

An implant system that includes an implant having a base portion, that has a body and at least a portion of which includes a lattice structure, and an upper portion configured to releasably couple with the base portion. The implant system includes at least one first fastener configured to be received and extend at least partially through at least one bore of the base portion, and at least one second fastener configured to be received within a cavity of the base portion. Also disclosed is an implant that includes a body that has various elements configured to facilitate arthrodesis of the subtalar joint and talonavicular joint. The body includes an upper surface that is configured to interface with the tibia of a patient, and a lower surface that is configured to interface with the subtalar joint and / or calcaneus of the patient.

The invention relates to a self-adaptive knee joint protection method and device based on motion risk prediction. The method comprises the steps that knee joint motion data, environment data and gait data of a user are collected in real time through an embedded inertial measurement unit, a pressure sensor, a myoelectricity sensor and a depth camera; the environment data comprises a ground material, a gradient and illumination intensity; the gait data comprises stride frequency, stride and gait cycle; inputting the knee joint movement data, the environment data and the gait data into a knee joint movement risk prediction model, and predicting the knee joint movement risk of the user in a future period; when the knee joint movement risk exceeds a preset threshold value, the exoskeleton is controlled through the knee joint auxiliary equipment to adjust the flexion and extension damping and the movement range of the knee joint. According to the method, the motion intention is recognized through the risk prediction model, and real-time monitoring and personalized protection of the knee joint motion risk are achieved based on the variable stiffness execution mechanism of the shape memory alloy and the gait mode.

The invention discloses a training mode determination method and system for a lower limb exoskeleton rehabilitation robot. The method comprises the steps that angle data, joint torque data and plantar pressure data when a patient executes multiple target actions are collected; according to the angle data and the joint torque data, calculating to obtain a joint motion range, and according to the angle data and the plantar pressure data, calculating a joint output torque; acquiring a pain score of the patient, and calculating a training mode score according to the joint motion range, the joint output torque and the pain score of the patient; and according to the training mode score, determining a training mode of the lower limb exoskeleton rehabilitation robot, wherein the training mode comprises a passive mode, an auxiliary mode and an anti-resistance mode. The motion range of the hip, knee and ankle joints can be accurately quantified, the joint motion range can be dynamically evaluated, the optimal training mode is dynamically recommended in combination with the training score calculated in real time, therefore, the rehabilitation efficiency can be improved, and the method can be widely applied to the technical field of rehabilitation training.

A method for facilitating stabilization of a sacroiliac joint is provided. The method includes surgical and stabilization techniques for implanting bone anchors or fasteners such as a first bone screw, a second bone screw, and third bone screw in a pelvis traversing portions of a coxal bone and a sacrum, and extending through or adjacent at least a portion of a corresponding sacroiliac joint. The bone anchors or fasteners such as the first bone screw, the second bone screw, and the third bone screw can be inserted at different angles and locations to form a lattice structure that serves in securing the position of a coxal bone and a sacrum relative to one another to facilitate stabilization across a corresponding sacroiliac joint.

The invention discloses a knee joint movement injury rehabilitation mode generation system based on virtual reality, and belongs to the technical field of virtual reality. The problems that in the prior art, doctor-patient proportion is imbalance, and rehabilitation conditions are difficult to accurately judge are solved, corresponding rehabilitation plans are made according to prediction results of knee joints of different users through the neural network model, a corresponding virtual training scene is constructed in combination with the VR technology, and the rehabilitation effect is improved. Classifying various injury results and rehabilitation plans through a decision tree classification model; therefore, after a medical worker diagnoses the knee joint injury factor of the user or knows the rehabilitation demand required by the user, a personalized rehabilitation training plan can be automatically made according to the personal condition of the user, and the rehabilitation training effect is monitored in real time; compared with a traditional treatment method, the method is more efficient, and corresponding adjustment can be made according to the specific conditions of the patient, so that the pertinence and effectiveness of rehabilitation training are improved, and the user is helped to recover body health faster and better.

The utility model discloses a joint torque measuring device, which comprises a base provided with a slide rail and used for bearing a force measuring unit and abutting against a static limb joint of a joint to be measured; the force measuring unit is mounted on the sliding rail in a sliding manner and is used for receiving and measuring the acting force of a movable limb joint of the joint to be measured; and the displacement measuring unit is arranged on the base and is used for measuring the displacement of the force measuring unit. The device can be used for measuring torques of joints of all positions of a human body, such as joints of upper and lower limbs or fingers, the muscle strength and motion function conditions of the joints can be evaluated only by adjusting the sizes of all parts of the device to be matched with the sizes of the corresponding joints and limbs, and basis is provided for formulation and adjustment of rehabilitation treatment when the device is applied to the rehabilitation treatment; accordingly, a corresponding rehabilitation training scheme is designed, and the patient is helped to recover muscle strength and motion functions.

The invention relates to the technical field of legged robots, and aims to provide a joint coupling driven humanoid robot leg structure and a control method thereof. The whole mechanism has three degrees of freedom which are respectively the flexion and extension movement of the hip joint, the knee joint and the ankle joint, and the hip joint, the knee joint and the ankle joint can flexibly rotate and can reach the human body joint rotation angle range, so that the actions such as jumping can be realized. The invention provides the innovative design of the coupling joint, and has the advantages of enhancing the motion coordination, reducing the control complexity and reducing the energy consumption; on the basis of ensuring sufficient motor torque and proper volume, the appearance and the movement are in line with human body characteristics, and the biological performance advantages of a human body are fully exerted; the structural design is small and exquisite, a joint driving motor moves upwards, and overall light weight is achieved; a control strategy based on power limitation is provided, the Jacobian matrix is utilized to optimize the motor output torque, the system power consumption is further reduced, and the method has a wide social application scene.

The present disclosure relates to an instrumentation system for implanting an ankle prosthesis. In various embodiments, the system includes a cutting assembly including a reaming tool for preparing a cavity within an intramedullary canal of a patient. In further embodiments, the system includes a guide block configured to fasten to a tibia of the patient and couple to the cutting assembly, the tibia having a proximal end and a distal end, wherein the guide block includes one or more alignment guides for guiding the cutting assembly to the intramedullary canal on the distal end for preparing the cavity without affecting a calcaneus or the proximal end of the tibia. In some embodiments, the system includes a distractor for separating the distal tibia from a talus to facilitate preparing the cavity and inserting an ankle prosthesis into the cavity.

The invention belongs to the technical field of machine vision control, and particularly relates to a lower limb rehabilitation robot knee joint driving control system based on machine vision, which comprises a central processing module, a machine vision module, a driving control module, a feedback and adjustment module and a man-machine interaction module. A training target can be set, the progress can be checked, parameters can be adjusted, closed-loop control over the whole system can be achieved, motion state monitoring is provided through machine vision, the control system adjusts the driving device according to feedback, and the safety in the training process is guaranteed by monitoring the motion condition of knee joints in real time and adjusting the driving force according to the feedback of a patient.

A surgical system for preparing the sacroiliac (SI) joint for a fusion, comprising a sliding joint finder and a working cannula. The working cannula comprises a body having a central axis that runs the length of the body. The body of the working cannula comprises a distal end, a proximal end and a central cavity that is positioned along the central axis of the working cannula and has suitable dimensions for sliding the working cannula over the sliding joint finder and the working cannula further comprises two protrusions extending proximally. In addition, the two protrusions have uneven lengths such that when the working cannula is inserted, the longer of the two protrusions engages the SI joint at a superior end of the SI joint and the shorter of the two protrusions engages the SI joint at an inferior end of the SI joint.