41 results about "Knee joint movement" patented technology

The utility model relates to exoskeleton technology, concretely is knee joint power-assisted walking device, including thigh part and shank, both are connected through knee joint, wherein the knee joint includes the hinge part I of setting in the lower extreme of thigh part, and the hinge part II of hinge connection with hinge part I, the drive module for driving knee joint is set in the upper end of thigh part, and drive module is driven the hinge part II deflection through the rope drive structure, power-assisted walking device is used for knee joint power assistance, and the hip joint needs the user to exert force alone, and the drive module for driving knee joint movement is not set in the knee joint, but moves to the upper part of thigh part, that is, the position close to the hip joint, and realizes the purpose of driving knee joint through the rope drive structure, this scheme can improve the gravity center of whole leg assembly, compared with the scheme that the existing drive module is set in the knee joint, when walking, the user, overcomes the leg assembly gravity work less, can effectively reduce the fatigue degree of hip joint.

The invention relates to a sensing technology, in particular to a knee joint multi-sensor fusion sensing method and system based on flexible fabric. The system comprises a flexible fabric sensor array, a signal acquisition module, a fusion sensing module and a classification module, a plurality of sensing units of the flexible fabric sensor array are uniformly distributed in each subarea of the front part of the knee joint; the signal acquisition module is connected to the flexible fabric sensor array and is used for acquiring a multi-channel sensing signal in real time and transmitting the multi-channel sensing signal to the fusion sensing module; the fusion sensing module extracts local time sequence features by using a convolutional neural network, and fuses global time sequence features through a bidirectional long-short-term memory network, and then the attention module weights key time steps to extract multi-dimensional features so as to realize identification of sitting posture leg lifting, standing and walking; and the classification module is connected with the fusion sensing module and is used for outputting a classification result of the knee joint movement mode. According to the invention, efficient feature extraction and adaptive dynamic fusion of multi-channel signals are realized.

The embodiment of the invention discloses wearable knee joint equipment, a knee joint rehabilitation evaluation method and computing equipment. The wearable knee joint equipment comprises a flexible substrate; the sensing unit is integrated on the flexible substrate and comprises an electromyographic sensing module used for collecting surface electromyographic signals of rectus femoris for driving the knee joint to move; the muscular tension sensing module is used for generating a muscular tension signal by detecting skin deformation caused by knee joint movement based on the piezoresistive effect; the joint angle sensing module is used for generating a knee joint motion range signal by detecting knee joint flexion and extension strain based on the piezoresistive effect; the signal processing module is connected with the sensing units and used for processing and wirelessly transmitting the surface electromyogram signals, the muscular tension signals and the knee joint movement signals to a computing device so that the computing device can determine the state evaluation result of the knee joint rehabilitation state based on the signals. The possibility is provided for remote dynamic monitoring of TKA postoperative rehabilitation, and the accuracy of rehabilitation state evaluation is improved.

By using the helical axis in the knee joint movement of subjects during walking, we perform gait analysis that can be used to detect early-stage osteoarthritis of the knee. [Solution] A gait analysis method comprising the steps of: calculating the helical axis of the knee joint based on motion data of the subject's lower limbs during walking; extracting the flexion phase and extension phase during the stance phase of the subject's gait cycle; and obtaining an evaluation value to assess the condition of the knee by quantifying the variability of the helical axis group in one or both of the flexion phase and the extension phase.

The application discloses a kind of based on knee joint motion mechanism's bionic joint mechanism, belong to bionic mechanical technical field.The bionic joint mechanism includes two bars four cable tensioning support units symmetrically arranged on two sides, is set in two bars four cable tensioning support unit between femur contour movement subassembly, with the femur contour movement subassembly and two bars four cable tensioning support unit cooperation setting bilateral linkage mechanism and drum wheel curved surface cooperation mechanism.The application can simulate the motion characteristics in the process of knee joint flexion by setting femur contour movement subassembly, improve the bionics and motion coordination of mechanism;By two bars four cable tensioning support unit and bilateral linkage mechanism, the mechanism has support ability and adaptability in the process of movement, ensure the consistency of two sides movement.The mechanism has the advantages of compact structure, linkage reliable, motion coordination, and can be applied to bionic robot, exoskeleton device and other related bionic mechanical system.

The present application relates to the field of rehabilitation robots, in particular to a three-joint complete gait walking device, comprising a back connecting device, a hip joint movement mechanism, a knee joint movement mechanism and an ankle joint movement mechanism; the hip joint movement mechanism comprises a hip joint mounting plate, a thigh supporting rod and a thigh adjusting block, the hip joint mounting plate is arranged on a leg fixing mechanism, and the thigh adjusting block is adjustably arranged on the thigh supporting rod; the knee joint movement mechanism comprises a knee joint mounting plate, a calf adjusting block and a calf supporting rod, the knee joint mounting plate is arranged on the thigh adjusting block, and the calf supporting rod is adjustably arranged on the calf adjusting block; the ankle joint movement mechanism is arranged at the lower end of the calf supporting rod; driving mechanisms are arranged on the hip joint mounting plate and the knee joint mounting plate. The present application is used for gait training of patients with rehabilitation needs of walking disorders, the combined movement process is closer to normal gait walking, and it is more beneficial for gait training and improves the training effect.

The application discloses a knee joint dynamic stability bionic protector and a control method, and belongs to the field of sports bionics. The protector comprises a high polymer composite shell, a partitioned cushion layer, a bionic multi-axis movable joint assembly and a flexible bionic ligament strip. The protector is internally provided with an angle-pressure integrated sensing module, which can collect knee joint movement and stress data in real time, and through an intelligent micro drive unit, dynamic adjustment of the partitioned damping, rigidity and support angle can be realized. The protector has high adhesion and comfort, can automatically adjust the support mode according to the user's activity state, effectively improves the dynamic stability of the knee joint, prevents injury and assists in rehabilitation. The protector is suitable for knee joint function protection in multiple scenes such as sports protection, clinical rehabilitation and daily health management.

The invention discloses a bionic joint mechanism based on a knee joint movement mechanism, and belongs to the technical field of bionic machinery. The bionic joint mechanism comprises two-rod four-cable tensioning supporting units symmetrically arranged on the two sides, a thighbone contour simulating movement assembly arranged between the two-rod four-cable tensioning supporting units, a double-side linkage mechanism and a drum wheel curved surface matching mechanism, wherein the double-side linkage mechanism and the drum wheel curved surface matching mechanism are matched with the thighbone contour simulating movement assembly and the two-rod four-cable tensioning supporting units. By arranging the thighbone contour imitating movement assembly, movement characteristics of the knee joint in the flexion and extension process can be simulated, and the bionic property and movement coordination of the mechanism are improved; and through the two-rod four-cable tensioning supporting units and the linkage mechanisms on the two sides, the mechanism has the supporting capacity and the adaptive capacity in the movement process, and the consistency of movement on the two sides is guaranteed. The mechanism has the advantages of being compact in structure, reliable in linkage and coordinated in movement, and can be applied to relevant bionic mechanical systems such as bionic robots and exoskeleton devices.

A system including a knee ranging tool: including a base configured to locate on a resected proximal face of a tibia in a knee of a patient; defining a tibial reference surface configured to run against a femoral surface of an artificial femoral component, installed on a distal face of a femur of the patient, during articulation of the knee of patient; including a set of stages interposed between the base and the tibial reference surface, configured to locate the tibial reference surface relative to the base, and compliant to medial-lateral translation, anteroposterior translation, and transverse rotation; and configured to indicate a medial-lateral translation offset, an anteroposterior translation offset, and a transverse rotation offset corresponding to a position of the tibial reference surface, relative to the base, that yields elastic deformation of ligaments in the knee over a range of motion of the knee.

1. Name of this product design: Knee-opening knee joint exercise trainer (folding model). 2. Application of this design: It is suitable for the treatment of pain and dysfunction in knee osteoarthritis, the rehabilitation treatment of postoperative functional impairment after knee joint surgery, and the rehabilitation treatment of functional impairment caused by knee joint injury. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1. 5. The bottom surface of the product is a part that is not easily seen or cannot be seen during use, so the bottom view is omitted.

The invention provides a knee joint motor injury electrical signal early warning protection method, and belongs to the technical field of early warning protection, and the method comprises the steps: obtaining leg posture images and physiological monitoring signals of a target patient in multiple motion states, extracting specific joint features and common joint features, and constructing a physical quality portrait; fusing the first deployment diagram and the third deployment diagram through position mapping of the joint features and the knee joint structure to obtain a comprehensive deployment diagram; configuring a monitoring assembly according to the image, collecting a knee joint electrical signal set and a self-quality feedback signal, and calculating a physical quality positive difference vector; and comparing the electrical signal with a signal standard library to obtain an initial damage-probability signal vector, and outputting early warning protection by matching a vector-early warning mapping table after positive difference vector optimization. Multi-scene adaptation, personalized monitoring and accurate early warning are achieved, the influence of forward change of physical quality on injury risks is fully considered, and reliable support is provided for knee joint movement injury protection.

1. Name of the product in this design: Knee-opening knee joint exercise trainer. 2. Application of this design: It is suitable for the treatment of pain and dysfunction in knee osteoarthritis, the rehabilitation treatment of postoperative functional impairment after knee joint surgery, and the rehabilitation treatment of functional impairment caused by knee joint injury. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

The invention provides a rehabilitation robot based on a non-circular gear train-five-bar mechanism, and relates to the technical field of rehabilitation medical instruments, the rehabilitation robot comprises a rack, a left rehabilitation mechanism and a right rehabilitation mechanism; the left rehabilitation mechanism and the right rehabilitation mechanism are symmetrical; the left rehabilitation mechanism comprises a left non-circular wheel train-five-rod mechanism, a left leg connecting rod and a left knee bandage; the right rehabilitation mechanism comprises a right non-circular wheel train-five-rod mechanism, a right leg connecting rod and a right knee bandage. The non-circular wheel train-five-bar mechanism is used for accurately reproducing the motion posture of the knee joint, the problems that the fitness between the motion track of an existing rehabilitation robot and the natural gait of the human body is insufficient, the control torque is large and the like can be effectively solved, and the non-circular wheel train-five-bar mechanism has the advantages of being simple in structure and low in manufacturing cost.

The application discloses a leg nursing bracket for bone surgery and relates to the technical field of medical devices, which comprises a supporting rod and a stabilizing mechanism, wherein the stabilizing mechanism comprises a connecting frame, one end of the connecting frame is slidably connected with a sliding block, a locking unit is arranged on the sliding block, a supporting assembly is mounted on one side of the sliding block and the end of the connecting frame away from the sliding block, the supporting assembly comprises a supporting plate, the supporting plate is rotationally connected with the connecting frame and the sliding block through a rotating shaft, and an end cover is fixed to the end of the rotating shaft, the two angle-adjustable supporting plates are used for supporting and lifting the thighs and the shanks respectively, the height of the supporting plate for lifting the shank is adjustable, thus the two supporting plates can support and lift the legs according to the positions and angles of the thighs and the shanks respectively, the knee joint movement is limited, the healing effect after the knee ligament surgery is ensured, and in addition, the stabilizing mechanism is designed as a wearable type, can be worn on the legs when the patient gets out of bed and continuously maintains the flexion degree of the legs.

The utility model discloses an adjustable knee joint exercise rehabilitation device which comprises a supporting plate, the left end of the supporting plate is connected with a rotating plate in a rotating mode, the rotating plate can be folded at the upper end of the supporting plate, the supporting plate is provided with a limiting mechanism used in cooperation with the rotating plate, and the limiting mechanism is used for fixing the rotating plate when the rotating plate is horizontal. A supporting mechanism used in cooperation with the limiting mechanism is arranged on the rotating plate, and the supporting mechanism and the limiting mechanism are used for fixing the rotating plate when the rotating plate rotates to the vertical state. The rotating plate can be fixed through the limiting mechanism after rotating to the horizontal state, passive knee bending training can be conveniently carried out, the rotating plate can be fixed through the limiting mechanism and the supporting mechanism when rotating to the vertical state, and sliding wall training can be conveniently carried out.

The application discloses a knee joint assisting exoskeleton and relates to the technical field of robots. The exoskeleton can assist a user to complete knee joint movement in different scenes, improve walking efficiency and stability, and reduce the load and impact force of the knee joint. The exoskeleton comprises a knee joint exoskeleton main body, a Bowden wire driving device, a Bowden wire, an inertial sensing unit and a control unit. The exoskeleton main body is bound at the knee joint of a wearer. The Bowden wire driving device and the control unit are arranged at the waist of the wearer. The Bowden wire driving device drives the knee joint exoskeleton main body to assist the knee joint through the Bowden wire. The inertial sensing unit is arranged at the thigh and the lower leg of the wearer and is used for detecting the knee joint angle and the hip joint angle. The control unit can judge the posture of the wearer according to the received knee joint angle information and hip joint angle information, select an assisting mode according to the posture, then select an assisting time point and an assisting curve according to the assisting mode, and control the start and stop of the Bowden wire driving device.

The invention belongs to the technical field of medical instruments, and discloses an artificial limb control system and control method for driving a knee joint by a hip joint, and the control system comprises a hip joint curvature acquisition module, a wireless data transmission module, a knee joint driving device and a battery module, the hip joint curvature acquisition module is used for acquiring a bending angle signal of a hip joint in real time, the wireless data transmission module is used for wirelessly transmitting the hip joint angle signal, and the knee joint driving device is used for receiving the hip joint angle signal transmitted by the wireless data transmission module and controlling the movement of the knee joint according to a preset biomechanical model. The knee joint driving device is used for executing a control instruction sent by the knee joint driving device and driving the knee joint to move, and the battery module supplies power to other assemblies. Hip joint angle signals are collected in real time and wirelessly transmitted through the hip joint curvature acquisition module, knee joints are directly driven to move, signal instability and response lag are avoided, control precision and comfort are improved, and the service life of a battery is prolonged.

The utility model relates to the technical field of intelligent health protection, in particular to a wearable equipment control system for knee joint injury detection and pre-protection, which comprises a controller, an upper computer, a data transmission module, a signal acquisition module, a wearable module and an electrical stimulation module, and is characterized in that the controller controls the wearable module; the upper computer records, checks and modifies personal information and checks the electric quantity of the wearable module; the data transmission module is used for communication between the controller and an upper computer; the signal acquisition module acquires human knee joint movement conditions; the electrical stimulation module is used for stimulating a human muscle system, the system collects knee joint movement conditions in the movement process in real time through the wearable module, judges whether injury risks exist or not based on a knee joint injury early warning algorithm of a deep learning model, and if the injury risks exceed an injury risk threshold value, gives an alarm. If yes, the electrical stimulation module can automatically apply electrical stimulation to the corresponding muscle position, muscle groups are promoted to contract, knee joint restoration is helped, and knee joint ligament injury is monitored and prevented.

The application provides a knee joint energy management system for prosthesis hip-knee coupling movement, which comprises a single-side rod-type knee joint hydraulic cylinder and an integrated energy management module, and realizes the collaborative control of energy dynamic recovery, active driving and damping adjustment by switching the oil path mode through a rotary valve body.The specific scheme is as follows: the energy management module is internally provided with an energy storage cavity, a hydraulic gear pump and a hydraulic active driving motor, the hydraulic oil is compressed to store mechanical energy in the spring of the energy storage cavity in the knee joint flexion stage, and the energy is released to drive the gear pump to generate electricity or reversely output hydraulic power in the extension stage.The communication state of the energy storage cavity and the gear pump is switched through the two-position slot of the rotary valve body, and the passive damping adjustment, active assistance and locking mode are supported.The application realizes the dynamic damping adjustment, active driving control and energy recovery and storage of the knee joint movement.

The application relates to the medical technical field, in particular to a flexible exoskeleton for assisting hip joint and knee joint movement, which comprises a waist controller, both ends of the waist controller are connected with waist ropes, two waist ropes pass through the waist and are connected and fastened in a detachable mode, two leg fasteners for binding thighs are arranged below the waist controller, and both ends of the waist controller are respectively matched with the two leg fasteners; the two leg fasteners are used for binding thighs of a user, then the waist controller is bound on the waist of the user through the two waist ropes, meanwhile, the waist controller is ensured to be located at the front end, and both ends of the waist controller are respectively connected and matched with the leg fasteners, so that the movement of the legs is controlled through the waist controller, the user can be assisted to walk and the user can be assisted to perform a leg lifting movement.

This utility model relates to a knee joint motion measuring device. The device is installed at the knee joint and includes an upper connecting rod, a lower connecting rod, an angle encoder, a display unit, and a control box. The upper and lower connecting rods are connected, the angle encoder is installed at the connection point, and the control box is mounted on the upper connecting rod. The control box is communicatively connected to both the display unit and the angle encoder. This utility model collects the current angle change through the angle encoder, and the display unit processes the real-time data and visualizes the results, showing the current angle change trend. The angle measurement is accurate, and the results are displayed intuitively.

This invention discloses a method, device, and equipment for assessing knee joint motor function, relating to the field of smart healthcare technology. The method includes: acquiring a motion video of a user performing a preset movement; obtaining the two-dimensional pixel coordinates and bone segment orientation features of the target knee joint based on the motion video; obtaining the three-dimensional motion posture of the target knee joint based on the two-dimensional pixel coordinates and bone segment orientation features; and obtaining the assessment result of the target knee joint's motor function based on the three-dimensional motion posture. This invention achieves low-cost, portable, automated, and standardized quantification of three-dimensional motor function, comprehensively improving the objectivity, scientific rigor, and repeatability of rehabilitation follow-up and functional assessment results. It provides real-time feedback and guidance for patients' daily rehabilitation training, effectively enhancing patient compliance with rehabilitation.

A knee movement support device according to one embodiment of the present disclosure is a knee movement support device that is worn on a leg of a user. The knee movement support device includes: a damper that provides resistance against a direction in which a knee joint of the leg bends; and an adjuster that is operated by a person to adjust the resistance from the damper.

An exoskeleton for assisting a user to run / walk is provided. The exoskeleton assembly comprises a thigh link and a shank link for attaching to the user, an arm link pivotally articulated thereto, a spring connected to the thigh link and arm link, a transmission configured to control movement between the arm and the shank links, one or more sensors, and a controller. The transmission has a clutch, operable by the controller, configured to selectively engage / disengage the shank link with the spring. The controller is configured, in response to indications received from the one or more sensors, to engage the clutch to store the user's knee energy in the spring or to provide stored energy from the spring to the user's knee, and to disengage the clutch to prevent the exoskeleton from interfering with the user's knee motion.

The application discloses a knee joint assisting exoskeleton and belongs to the exoskeleton field. First and second inertia measurement sensors are arranged on the thigh and calf clamp mechanisms; the shell of the assisting mechanism is fixed with the thigh clamp mechanism, and two first and second racks are slidably arranged on the two sides of the shell; a motor is fixed to the shell, a first gear sleeve is arranged on the motor, a second and third gears are engaged with the first gear, a fourth and third gears are engaged, and the second and fourth gears are engaged with the first and second racks on the corresponding side; the two ends of first and second connecting rods are respectively fixed with the lower parts of the two first and second racks; the first ends of first and second curved beams are respectively sleeved with the first and second connecting rods; the two ends of a third connecting rod are fixed with the calf clamp mechanism; the second ends of the first and second curved beams are both sleeved with the third connecting rod; a foot bottom pressure sensor is arranged on the foot bottom; the first and second inertia measurement sensors, the motor and the foot bottom pressure sensor are all electrically connected with a development board. The application can realize accurate matching of the motion characteristics and rigidity requirements of the knee joint.

The telescopic knee joint supporting strip comprises a shaft rod, and first rotating discs are symmetrically and rotationally connected to the shaft rod. According to the damping system, the piston cylinder, the fluid groove, the hollow rod, the piston head, the hollow sealing ring and other structures are arranged, the fluid groove is filled with damping oil, the knee joint supporting strip can generate adjustable damping force during bending and stretching movement, the damping system effectively buffers sudden movement of the knee joint, impact and vibration on the joint are reduced, and the damping effect is improved. Meanwhile, the position of the piston in the piston cylinder can be changed by adjusting the screw rod through the knob, so that the damping force can be accurately controlled, the requirements of different users or different activity intensities (such as walking, running or rehabilitation training) are met, and on the whole, the using comfort and stability are improved. The supporting strip has the advantages of being stable in movement, flexible in adjustment, capable of protecting knee joints from being damaged and the like and is particularly suitable for the fields of rehabilitation medicine and movement protection.

The application discloses a wearable knee joint exoskeleton, which comprises a thigh supporting part, a knee joint rotation limiting device and a shank supporting part, the thigh supporting part is used for positioning and supporting a position of a human thigh close to a knee joint, the shank supporting part is used for positioning and supporting a position of a human shank close to the knee joint, the knee joint rotation limiting device is used for limiting an angle range of human knee joint movement, the knee joint rotation limiting device is arranged between the thigh supporting part and the shank supporting part and is fixedly connected with the thigh supporting part and the shank supporting part respectively. The wearable knee joint exoskeleton provided by the application has simple structure and variable rotation center, can adapt to natural movement of a human knee joint, provides certain limitation for extension movement of the knee joint and prevents overextension of the knee joint.

The application discloses a kind of knee joint movement injury rehabilitation method and system, comprising the following steps: S1, data acquisition: through multimodal sensing module acquisition user's kinematics data, dynamics data and physiological parameters, the present application relates to movement injury rehabilitation technical field.A kind of knee joint movement injury rehabilitation method and system, through five modal sensors collect kinematics, dynamics and physiological parameters, combine individualized biomechanical model to fully reflect the state of knee joint, based on injury type, course of disease and individual characteristics generation sub-stage scheme, solve the pain points of traditional rehabilitation individualization deficiency, improve training safety and adaptability, through tactile and auditory compound prompt, wherein, deviation angle is associated with prompt frequency, force line deviation corresponds to vibration position, can quickly complete action deviation correction, reduce compensatory injury caused by error training, compared with traditional manual observation or lag analysis, significantly improve training standardization and immediate error correction ability.

The application provides a hip-knee coordinated bionic artificial limb, which comprises a hip joint movement module, a thigh module, a knee joint movement module, a coordinated driving module, a lower leg module and an artificial foot. The hip joint movement module comprises a receiving cavity fixing seat, a fixing seat connecting piece, a hip front connecting rod, a hip rear connecting rod, a hip upper connecting rod and a hip lower connecting rod; the upper end of the hip front connecting rod is coaxially connected with the fixing seat connecting piece, the middle end of the hip front connecting rod is coaxially connected with the right end of the hip upper connecting rod, the lower end of the hip front connecting rod is coaxially connected with the right end of the hip lower connecting rod, the upper end of the hip rear connecting rod is coaxially connected with the fixing seat connecting piece, the lower end of the hip rear connecting rod is coaxially connected with the middle end of the hip upper connecting rod, the left end of the hip upper connecting rod is coaxially connected with a thigh rod piece, and the left end of the hip lower connecting rod is coaxially connected with the thigh rod piece to form a remote center of motion mechanism; the left side of the hip lower connecting rod is provided with a hip sliding rod; the knee joint movement module is a four-connecting-rod structure; and the driving module is used for driving the hip sliding rod and a knee sliding rod to move up and down. The application realizes bionic movement and dynamic energy management of hip-knee joints.

The embodiment of the invention is applicable to the technical field of computer-aided medical technology and surgical planning, and provides an intraoperative planning device for a single condylar surgery on a movable platform and computer equipment, the device comprises a display unit for displaying an image of a surgical site, the image comprises a top view of the movable platform displayed in a simulation manner, and the top view of the movable platform is used for displaying the image; the movable platform is composed of a tibia support prosthesis and a tibia pad prosthesis capable of moving on the surface of the tibia support prosthesis. The monitoring unit is used for monitoring the movement track of the tibia pad prosthesis on the surface of the tibia support prosthesis in the process of assisting the knee joint movement of the patient, and the movement track is displayed through the display unit; and the planning unit is used for performing intra-operation planning of a single-condyle operation based on the motion trail of the tibia pad prosthesis. By the adoption of the device, the movement track of the tibia support prosthesis of the movable platform can be monitored in the unicompartmental condyle surgery, then intraoperative surgery planning is achieved, and the safety and reliability of a planning scheme are guaranteed.